Welcome to DOFBOT Pro repository
2. MoveIt Usage
MoveIt Usage
MoveIt Usage1. Usage Environment2. Launch MoveIt3. Custom Poses3.1. Set Pose3.2. Plan Motion3.3. Execute Motion4. Preset Poses4.1. Robotic Arm Poses4.1.1. Set Pose4.1.2. Plan and Execute Pose4.2. Gripper Poses4.2.1. Set Pose4.2.2. Plan and Execute Pose4.3. Planning Options
1. Usage Environment
Board: Jetson Orin Nano/Nx
ROS2: Humble
If you are using a Jetson Nano development board, you will need to enter the commands from the tutorial into the accompanying virtual machine to run this function.
2. Launch MoveIt
ros2 launch dofbot_pro_moveit demo.launch.py
3. Custom Poses
3.1. Set Pose
Control the robotic arm pose by dragging the trajectory balls on the robotic arm in RViz: The trajectory balls are new spheres added to the robotic arm, and the yellow robotic arm represents the target state.
Note: The robotic arm will only change its pose when the dragged trajectory ball is in a reachable position.
3.2. Plan Motion
Click MotionPlanning → Planning → Plan to plan the robotic arm to the specified pose.
Start Planning Motion
The shadow of the robotic arm is the planned motion. If the planning path is not set, the robotic arm will continuously repeat the planning path.
Turn off planning path loop: After turning off, the robotic arm will only plan the path once to the specified pose.
3.3. Execute Motion
Click MotionPlanning → Planning → Execute to make the robotic arm move to the specified pose.
Start Executing Motion
After clicking the execute option, the robotic arm will move to the target state until it coincides.
4. Preset Poses
Preset poses are several poses set for the robotic arm in MoveIt Setup Assistant.
In MotionPlanning → Planning → Planning Group, you can set the planning group: robotic arm or gripper.
In MotionPlanning → Planning → Start State, you can set the starting pose for planning.
In MotionPlanning → Planning → Goal State, you can set the target pose for planning.
4.1. Robotic Arm Poses
In MotionPlanning → Planning → Planning Group, set the planning group: arm_group.
4.1.1. Set Pose
In MotionPlanning → Planning → Goal State, set the planning target pose: init
4.1.2. Plan and Execute Pose
Click MotionPlanning → Planning → Plan & Execute to make the robotic arm plan and execute to the specified pose.
4.2. Gripper Poses
In MotionPlanning → Planning → Planning Group, set the planning group: grip_group.
4.2.1. Set Pose
In MotionPlanning → Planning → Goal State, set the planning target pose: close
4.2.2. Plan and Execute Pose
Click MotionPlanning → Planning → Plan & Execute to make the gripper plan and execute to the specified pose.
4.3. Planning Options
MotionPlanning → Planning → Options can control planning time (Planning Time), planning attempts (Planning Attempts), velocity scaling for planning/execution (Velocity Scaling), and acceleration scaling for planning/execution (Accel. Scaling).
