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hardware:rb1_quickstart [2021/02/12 13:50]
cedric.lb
hardware:rb1_quickstart [2021/02/12 14:25]
cedric.lb [Controlling the kinova-arm only]
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     rb1@rb1:~$ roslaunch rb1_jaco_3fg_moveit_config demo_rtc.launch     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 ==== ==== 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     user@remote:​~$ export ROS_MASTER_URI=http://​rb1:​11311
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    ​user@remote:​~$ scp -r rb1@rb1:​~/​catkin_ws/​src/​* ~/​catkin_rb1_ws/​src/​    ​user@remote:​~$ scp -r rb1@rb1:​~/​catkin_ws/​src/​* ~/​catkin_rb1_ws/​src/​
    ​user@remote:​~$ cd ~/​catkin_rb1_ws    ​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. 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: 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 ===== ===== Controlling the kinova-arm only =====
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     user@remote:​~$ mkdir -p ~/​catkin_kinova/​src     user@remote:​~$ mkdir -p ~/​catkin_kinova/​src
     user@remote:​~$ cd 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. Next, it is first necessary to connect the computer to the arm via USB. This requires an USB-A to USB-B cable.
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     user@remote:​~$ cd ~/​catkin_kinova     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. 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 }} More further information and additional launchfiles:​ {{ https://​github.com/​Kinovarobotics/​kinova-ros/​wiki/​MoveIt }}
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 and "​Action client not connected: rt_traj_exe/​follow_joint_trajectory"​** 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    ​user@remote:​~$ rostopic list
  • hardware/rb1_quickstart.txt
  • Last modified: 2021/02/12 14:25
  • by cedric.lb