robot_ur3e_setup

git clone https://github.com/Andy-Leo10/robot_ur3e_setup.git

• robot_ur3e_setup
  • Start Moveit in Simulation
    • Separating move group and rviz
  • Start Moveit in Real Robot
    • Separating move group and rviz
  • Other configurations for the arm
  • Resources

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SIMULATED ROBOT

Start Moveit in Simulation

cd ~/ros2_ws/ ;colcon build --packages-select sim_moveit_config;source install/setup.bash
ros2 launch sim_moveit_config run_moveit.xml

Separating move group and rviz

cd ~/ros2_ws/ ;colcon build --packages-select sim_moveit_config;source install/setup.bash
ros2 launch sim_moveit_config move_group.launch.py

cd ~/ros2_ws/ ;source install/setup.bash
ros2 launch sim_moveit_config moveit_rviz.launch.py

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REAL ROBOT

Start Moveit in Real Robot

cd ~/ros2_ws/ ;colcon build --packages-select real_moveit_config;source install/setup.bash
ros2 launch real_moveit_config run_moveit.xml

Separating move group and rviz

cd ~/ros2_ws/ ;colcon build --packages-select real_moveit_config;source install/setup.bash
ros2 launch real_moveit_config move_group.launch.py

cd ~/ros2_ws/ ;source install/setup.bash
ros2 launch real_moveit_config moveit_rviz.launch.py

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More info

Other configurations for the arm

ros2 launch moveit_setup_assistant setup_assistant.launch.py

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Resources

Resources

Orientation Constraint (doesn't work):

• https://moveit.picknik.ai/main/doc/how_to_guides/using_ompl_constrained_planning/ompl_constrained_planning.html
• https://docs.picknik.ai/en/4.0.1/how_to/application_how_tos/orientation_constrained_planning/orientation_constrained_planning.html

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