Install thor mang vigir gazebo

The following assumes you followed the common install instructions here. This installation installs onboard software, OCS (Operator Control Station) and Thor-Mang specific robot model and gazebo simulation packages. After install, everyting shown in this manipulation demo video can be reproduced.

• Run the install script:

roscd
../rosinstall/install_scripts/install_thor_mang_all.sh

Note there might be a reported issue due to Gazebo2 package not being installable. You can safely ignore this.

• Build

vigir make

• Run (terminal 1)

roslaunch thor_mang_gazebo start_thor_mang_default_all_onboard.launch world:=worlds/cylinder_on_table.world

• Run (terminal 2)

roslaunch thor_mang_ocs thor_mang_ocs.launch

If you want to use the FlexBE Chrome app, you also have to follow these instructions.