Driving a Real Device with MoveIt

1. Usage Environment

ROS2: Humble

Enter the commands in the tutorial into the accompanying virtual machine to run the function.

2. Driving a Real Device

Driving a real device involves subscribing to the MoveIt2 /joint_states topic, converting the joint state information of the robotic arm into control data for a real robotic arm.

Note: Since the real robotic arm does not have obstacle avoidance capabilities, 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 demonstrating driving a real device.)

The motherboard and virtual machine need to be configured for multi-machine communication. The robotic arm and virtual machine need to be on the same network, and the virtual machine's ros_domain_id needs to be consistent with the ros_domain_id in the Docker container. (Both are pre-configured with the same ros_domain_id at the factory; only the virtual machine and the robotic arm need to be on the same network.)

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# Start this command in Docker
ros2 run dofbot_ctrl SimulateToArm

3. Start MoveIt2

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# Start this command in the virtual machine,
ros2 launch dofbot_moveit demo.launch.py

3. Real Machine Movement

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

Set planning group: arm_group

Set pose: init

Plan and execute pose: Plan & Execute