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ROS Controller Experiment

Experimental​

MoveIt!​

MoveIt 2! is a set of packages for your robot to manipulate for Motion Planning, Manipulation, Inverse Kinematics, Control, 3D Perception and Collision Checking.

Launch MoveIt 2 with Hardware​

Terminal 1 - Launch the hardware controller:

$ ros2 launch open_manipulator_bringup open_manipulator_x.launch.py

Terminal 2 - Launch MoveIt configuration:

$ ros2 launch open_manipulator_moveit_config open_manipulator_x_moveit.launch.py

Simple Instructions for Using MOVEIT 2:

  1. You can move the robot to your desired pose using the Interactive Marker visible in RViz.
  2. Use the Plan option in the Commands column to simulate the motion of the robotic arm.
  3. Click Execute to move the robot according to the simulated motion.
  4. Set the Planning Group to arm and use the Goal State options init or home to move the robot to predefined poses.
  5. Change the Planning Group to gripper and use Goal State options such as close or open to open and close the gripper.

Using MoveIt! with Gazebo​

Gazebo is a tool to simulate and test your robot in a virtual environment, without an actual robot.

Also, you can use MoveIt feature using your virtual robot in the Gazebo environment with the following commands.

For more information on Gazebo, See Simulation

Close all terminals and then launch the Gazebo simulator and RViz visualization tool.

Terminal 1 - Launch Gazebo simulation:

$ ros2 launch open_manipulator_bringup open_manipulator_x_gazebo.launch.py

Terminal 2 - Launch MoveIt configuration for simulation:

$ ros2 launch open_manipulator_moveit_config open_manipulator_x_moveit.launch.py use_sim:=true

Gravity Compensation​

warning

The Gravity Compensation is not supported yet.
https://github.com/ROBOTIS-GIT/open_manipulator_controls

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