MoveIt Random Movement

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. Drive Real Robot

Driving the real robot is done by subscribing to MoveIt2's /joint_states topic and converting the robotic arm's joint state information into control of the real robotic arm.

Note: Since the real robotic arm does not have obstacle avoidance functionality, some poses may collide with obstacles; therefore, try to make the planned robotic arm motions reasonable and avoid positions with obstacles

(It is recommended to use preset poses for driving the real robot demonstration)

The Jetson Nano mainboard requires multi-device communication configuration. The robotic arm and the virtual machine need to be on the same network, and the ros_domain_id of the virtual machine must match the ros_domain_id in the Docker container. (The factory configuration already ensures that both ros_domain_ids are the same; you only need to ensure that the virtual machine and the robotic arm are on the same network.)

2.1. Start Real Robot

Without driving the real robot, perform simulation demonstration of robotic arm motion in MoveIt:

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#Jetson Nano users need to run this command in a virtual machine, while Orin users can run this command directly on the mainboard.
ros2 run dofbot_pro_driver dofbot_pro_driver

2.2. Launch MoveIt2

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#Jetson Nano users need to run this command in a virtual machine, while Orin users can run this command directly on the mainboard.
ros2 launch dofbot_pro_moveit demo.launch.py

3. Random Movement

Random movement demonstration case is not recommended for driving the real robot, as some poses may collide with obstacles or hit the main board!

Launch Command

The robotic arm needs to be successfully loaded in MoveIt and You can start planning now! appears before running the following command: The robotic arm will randomly plan a motion by itself

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#Jetson Nano users need to run this command in a virtual machine, while Orin users can run this command directly on the mainboard.
ros2 run dofbot_pro_moveit random_move