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hardware:rb1_quickstart [2021/02/12 13:54] cedric.lb [From a remote computer] |
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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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 | ||
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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}} | ||
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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 |