Z1 Examples

This package contains miscellaneous codes and scripts to test the Z1 manipulator.

waypoint_test.py

This executable node assumes that the robot is configured with a joint_trajectory_controller that uses the position interface. By calling the executable

ros2 run z1_examples waypoint_test.py

perform some motion to pass through some joint configuration which are specified in the script as numpy arrays.

To properly run the demo, and not having to worry about the bringup of the robot (wether real or in simulation), you may rely on the corresponding launch file which does everything:

ros2 launch z1_examples waypoint_test.launch.py sim_ignition:=true

By setting sim_ignition to false, the same motion will be executed on the real robot and not on the simulator!