MovingIt Driver for Real Machines

1. Environment

Ubuntu 22.04

ROS2: Humble

2. Driver for Real Machines

Driven by subscribing to Moveit2's /joint_states topic, the joint state information of the robotic arm is converted into control data for a real robotic arm.

Note: Since the real robotic arm lacks obstacle avoidance, some poses may encounter obstacles; therefore, the planned robotic arm movements should be as reasonable as possible and avoid locations with obstacles.

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

2.1 Starting the Real Machine

Without driving the real machine, demonstrate the robotic arm movements in MoveIt simulation:

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ros2 run dofbot_driver dofbot_driver

2.2 Starting MoveIt2

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ros2 launch dofbot_moveit demo.launch.py

3 Moving the Real Machine

Demonstrate driving the real robotic arm to the preset initialization position:

Set the planning group: arm_group

Set the pose: init

Plan and execute the pose: Plan & Execute