Welcome to JetCobot repository
2.URDF model controls the real robotic arm
URDF model controls the real robotic arm
Note: This course is based on the 【Robotic Arm URDF Model】 course. You need to open the URDF model of the robotic arm, run the program to drive the real robotic arm, and then control the real robotic arm through the URDF model.
1. Control real robotic arm
Start roscore
roscore
2. Start simulation
Open a new terminal.
Enter the following command to start the program
xxxxxxxxxxroslaunch jetcobot_moveit jetcobot_moveit.launch
3. Drive the real machine
Reopen a terminal.
Enter the following command to start the program
xxxxxxxxxxrosrun jetcobot_moveit sync_plan.py
Note: After the program driving the real machine is running, the robotic arm will follow the movement of the simulated robot. Please be careful not to place other objects around to avoid being hit by the robotic arm.
4. Experimental operation and results
At this point, in the robotic arm URDF model, use the left mouse button to select the arrows in the three colors [red, green, and blue], and then drag the robotic arm, and the robot will move with the model.
Click the [Plan & Execute] button, and the real robot arm will move to the position of the robot arm clone.
