hardware:rb1_quickstart

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hardware:rb1_quickstart [2021/02/12 13:50] – cedric.lbhardware:rb1_quickstart [2021/02/12 14:25] (current) – [Controlling the kinova-arm only] cedric.lb
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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.1613137849.txt.gz
  • Last modified: 2021/02/12 13:50
  • by cedric.lb