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manta_v2_run_move_group package from manta_v2 repo

manta_v2_bringup manta_v2_controller manta_v2_description manta_v2_gazebo_ros2_control manta_v2_moveit_config manta_v2_run_move_group

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Package Summary

Tags No category tags.
Version 0.0.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description ROS2 package suite of manta_v2.
Checkout URI https://github.com/tasada038/manta_v2.git
VCS Type git
VCS Version master
Last Updated 2022-11-14
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags gazebo underwater-robotics ros2 moveit2 ros2-control
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

move group c++ interface test

Additional Links

No additional links.

Maintainers

  • Takumi Asada

Authors

No additional authors.
manta_v2_run_move_group/README.md

manta_v2_run_move_group

This package for moving manta_v2 using Move Group C++ Interface.

manta_v2_run_move_group

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 Move Group demo

Without a robot

In the first shell, run the move group launch file:

ros2 launch manta_v2_run_move_group move_group.launch.py

In the second shell, run the move group interface launch file:

ros2 launch cobotta_run_move_group move_group_interface.launch.py

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 move group launch file(Laptop PC side).

ros2 launch manta_v2_run_move_group move_group.launch.py

Another shell, run the move group interface launch file:

ros2 launch cobotta_run_move_group move_group_interface.launch.py
CHANGELOG
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Wiki Tutorials

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Messages

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Plugins

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