Moveit scenario design

1. Usage environment

Motherboard: Jetson Orin Nano/Nx

ROS2: Humble

2. Driving the real machine

Driving the real machine is to convert the joint state information of the robot arm into the control of the real robot arm by subscribing to the /joint_states topic of Moveit2.

Note: Since the real robot arm does not have an obstacle avoidance function, some positions may encounter obstacles; so the planned robot arm movements should be as reasonable as possible and avoid positions with obstacles

(It is recommended to use preset positions to demonstrate driving the real machine)

2.1. Start the real machine

If you do not drive the real machine, simulate the robot arm movements in MoveIt:

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ros2 run jetcobot_driver sync_plan

2.2. Start MoveIt2

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ros2 launch jetcobot_moveit demo.launch.py

3. Scene design

Import scene:

Select the scene corresponding to the path

After the scene appears, click publish

Start command

The robot needs to be successfully loaded in MoveIt and You can start planning now! appears. Run the following command: The robot will plan the Cartesian path by itself

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ros2 run jetcbot_moveit set_scene