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Arm Simulator Tutorial
Nick Walker edited this page Mar 19, 2018
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Launch the simulator with
roslaunch bwi_launch simulation_v2.arm.launch
The arm will be rotated 90 degrees from how it appears on the actual robot. We don't know that this is a problem, as it seems to function as Kinova bills otherwise.
Only trajectory execution is available with the simulator. This means that cartesian or pose velocity control will be unavailable.
To see how to use the trajectory executor, refer to kinova_control/src/move_robot.py. To see the robot move, modify the kinova_control example, providing different values for the moveJoint command near line 73. Then run with
rosrun kinova_control move_robot.py m1n6s200