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hardware:rb1_quickstart [2021/02/12 13:55]
cedric.lb [Known issues]
hardware:rb1_quickstart [2021/02/12 14:25] (current)
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}}
     ​     ​
 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 }}
  • hardware/rb1_quickstart.1613138156.txt.gz
  • Last modified: 2021/02/12 13:55
  • by cedric.lb