Differences

This shows you the differences between two versions of the page.

--- hardware:rb1_quickstart [2021/02/12 13:48]
cedric.lb ↷ Page name changed from hardware:control to hardware:rb1_quickstart
+++ hardware:rb1_quickstart [2021/02/12 14:25] (current)
cedric.lb [Controlling the kinova-arm only]
@@ Line 40: / Line 40: @@
     # add the following line
 .168.0.200   rb1
 Next, the computer's IP has to be added to the robot's own /etc/hosts. This step is necessary to control several ROS topics from a remote computer.
@@ Line 46: / Line 46: @@
     user@remote:~$ ifconfig
 Once you have obtained your IP adress (192.168.x.x), connect to the robot and add the name of your computer (equivalent of remote in the example above) to the /etc/hosts file.
@@ Line 53: / Line 53: @@
     # add the following line
 .168.x.x  name_of_computer
 Note: As a security measure, super user privileges were removed from the rb1 user. To access an account with the required permissions and edit the file, contact Panagiotis.
@@ Line 72: / Line 72: @@
     rb1@rb1:~$ roslaunch rb1_jaco_3fg_moveit_config demo_rtc.launch
-This will open rviz and moveit.
+This will open rviz and moveit. In Motion Planning > Planning Request > Planning Group, select 'rb1_arm'. By default, it is on 'gripper' and they cannot be controlled via the moveit interface.
+{{hardware:rb1_real_moveit_indigo_arm.png?500}}
-Select the rb1_arm and move the arm around, plan and execute.
+The arm can now be moved as wanted.
+{{hardware:rb1_real_moveit_rviz.png?500}}
 ==== From a remote computer ====
-The rb1 can also be controlled remotely from a computer. First, connect to the robot's Wifi, open a terminaml and type:
+The rb1 can also be controlled remotely from a computer. First, connect to the robot's Wifi, open a terminal and type:
     user@remote:~$ export ROS_MASTER_URI=http://rb1:11311
@@ Line 87: / Line 90: @@
    user@remote:~$ rostopic list
 If everything is working correctly, this will display the different topics from the rb1 robot.
@@ Line 95: / Line 98: @@
    user@remote:~$ scp -r rb1@rb1:~/catkin_ws/src/* ~/catkin_rb1_ws/src/
    user@remote:~$ cd ~/catkin_rb1_ws
-   user@remote:~catkin_rb1_ws/$ catkin_make
+   user@remote:~/catkin_rb1_ws$ catkin_make
 Some robot-specific packages may fail compiling (missing dynamixel.h / libpcan.h). If those are the only errors, you may continue.
 Rviz and move it can now be started to control the robot:
-   user@remote:~catkin_rb1_ws/$ source devel/setup.bash
+   user@remote:~/catkin_rb1_ws$ source devel/setup.bash
-   user@remote:~catkin_rb1_ws/$ roslaunch rb1_jaco_3fg_moveit_config demo_rtc.launch
+   user@remote:~/catkin_rb1_ws$ roslaunch rb1_jaco_3fg_moveit_config demo_rtc.launch
 ===== Controlling the kinova-arm only =====
@@ Line 110: / Line 113: @@
     user@remote:~$ mkdir -p ~/catkin_kinova/src
     user@remote:~$ cd catkin_kinova/src
-    user@remote:~$ git clone https://github.com/Kinovarobotics/kinova-ros
+    user@remote:~/catkin_kinova/src$ git clone https://github.com/Kinovarobotics/kinova-ros
-    user@remote:~$ catkin_make
+    user@remote:~/catkin_kinova/src$ catkin_make
 Next, it is first necessary to connect the computer to the arm via USB. This requires an USB-A to USB-B cable.
@@ Line 120: / Line 123: @@
     user@remote:~$ cd ~/catkin_kinova
-    user@remote:~$ source devel/setup.bash
+    user@remote:~/catkin_kinova$ source devel/setup.bash
-    user@remote:~$ roslaunch kinova_bringup kinova_robot.launch kinova_robotType:=j2n6s300
+    user@remote:~/catkin_kinova$ roslaunch kinova_bringup kinova_robot.launch kinova_robotType:=j2n6s300
 This will start rviz and moveit and allow control of the arm.
+{{hardware:kinova_rviz.png?500}}
 More further information and additional launchfiles: {{ https://github.com/Kinovarobotics/kinova-ros/wiki/MoveIt }}
@@ Line 136: / Line 141: @@
 and "Action client not connected: rt_traj_exe/follow_joint_trajectory"**
-First, check whether the rt_traj_exe/follow_joiny_tractoryis visible on the computer.
+First, check whether the rt_traj_exe/follow_joiny_tractory is visible on the computer.
    user@remote:~$ rostopic list
 If they are not visible, type 'export ROS_MASTER_URI=http://rb1:11311' and retry.