Moveit Positive Kinematics Design

1. Operating Environment

Ubuntu 22.04

ROS2: Humble

2. Driving the Real Machine

Driving the real machine involves subscribing to Moveit2's /joint_states topic to convert the joint state information of the robotic arm into control data for the actual robotic arm.

Note:Since the real robotic arm does not have obstacle avoidance functionality, 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

If not driving the real machine, demonstrate the robotic arm movements in MoveIt simulation (skip the following steps):

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ros2 run dofbot_driver dofbot_driver

2.2 Starting MoveIt2

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ros2 launch dofbot_pro_moveit demo.launch.py

3. Forward Kinematics Design

Forward Kinematics (Forward Kinematics) Kinematics refers to a robotic arm given a target pose (angles of each joint), which MoveIt then automatically plans to achieve.

Startup Command

After the robotic arm has successfully loaded MoveIt and displays You can start planning now!, run the following command: The robotic arm will automatically plan to the target pose.

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ros2 run dofbot_moveit set_target_joints