ISS Description

Package that has a simulation of the ISS and the Mobile Servicing System (MSS) composed of 3 parts:

1. Mobile Base System (MBS): Rack that travels along the trusses outside the ISS
2. Canadarm2: 7-DOF arm that can be attached to the MBS
3. Dextre: 15 DOF (2 arms with 7DOFs each and one roll hip joint) that can be attached to Canadarm2, MBS or the ISS surface.

Instructions

1. To visualize the system in Rviz and move the joints using a Joint State Publisher GUI:

   ros2 launch iss_description view_mobile_servicing_system.launch.py
   

   

2. To simulate the system in Gazebo:

    ros2 launch iss_description mobile_servicing_system_gz.launch.py
   

   To move the DOFs you can use the services offered by the node in scripts/move_mss. This script is run by default with the launch file above. It offers services for moving the Canadarm2, Dextre and the mobile system, e.g.:

   ros2 service call /canadarm2_pose_1  std_srvs/srv/Empty