manta_v2_moveit_config

This package contains manta_v2 configuration files (yaml, srdf) to use MoveIt2 package in ROS2 environment.

Install

If you have not installed the following packages, run the following command to install the packages.

sudo apt install ros-$ROS_DISTRO-robot-state-publisher
sudo apt-get install ros-$ROS_DISTRO-ros2-control*
sudo apt-get install ros-$ROS_DISTRO-moveit*

Run MoveIt

Without a robot

ros2 launch manta_v2_moveit_config moveit_demo.launch.py

Once launching the demo, you should see the robot in MoveIt2! GUI like this:

On a real robot

First, connect the robot and PC with a tether cable and connect to Jetson Nano on the robot side by SSH.

ssh jetson@192.168.13.26

(* default IP of Jetson Nano is 192.168.13.26)

And, run the control launch file.

ros2 launch manta_v2_controller robot_control.launch.py

In addition, in the second shell on the robot side(Jetson Nano), run the servo node.

ros2 run manta_v2_controller servo_node

Second, run the moveit demo launch file(Laptop PC).

ros2 launch manta_v2_moveit_config moveit_demo.launch.py