Package Summary
Tags | No category tags. |
Version | 1.1.0 |
License | BSD 3-Clause |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-planning/moveit2.git |
VCS Type | git |
VCS Version | eloquent |
Last Updated | 2020-10-13 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Blake Anderson
- Andy Zelenak
Authors
- Brian O'Neil
- Andy Zelenak
- Blake Anderson
- Alexander Rössler
- Tyler Weaver
Jog Arm
Quick Start Guide for UR5 example
Clone the universal_robot
repo into your catkin workspace:
git clone https://github.com/ros-industrial/universal_robot.git
Run rosdep install
from the src
folder to install dependencies.
rosdep install --from-paths . --ignore-src -y
Build and subsequently source the catkin workspace. Startup the robot and MoveIt:
roslaunch ur_gazebo ur5.launch
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
In RViz, "plan and execute" a motion to a non-singular position (not all zero joint angles) that is not close to a joint limit.
Switch to a compatible type of ros-control
controller. It should be a JointGroupVelocityController
or a JointGroupPositionController
, not a trajectory controller like MoveIt usually requires.
rosservice call /controller_manager/switch_controller "start_controllers:
- 'joint_group_position_controller'
stop_controllers:
- 'arm_controller'
strictness: 2"
Launch the jog node. This example uses commands from a SpaceNavigator joystick-like device:
roslaunch moveit_jog_arm spacenav_cpp.launch
If you dont have a SpaceNavigator, send commands like this:
rostopic pub -r 100 /jog_server/delta_jog_cmds geometry_msgs/TwistStamped "header: auto
twist:
linear:
x: 0.0
y: 0.01
z: -0.01
angular:
x: 0.0
y: 0.0
z: 0.0"
If you see a warning about "close to singularity", try changing the direction of motion.
Running Tests
Run tests from the jog_arm folder:
catkin run_tests --no-deps --this
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- test/launch/common_test_setup.launch
- launch/cpp_interface_example.launch
- launch/spacenav_teleop_tools.launch
-
- cmd_vel [default: spacenav/joy]
- teleop_config [default: $(find moveit_jog_arm)/config/spacenav_via_teleop_tools.yaml]
- launch/spacenav_cpp.launch