myBuddy Moveit

mycobot_ros has integrated the MoveIt section.

Open the command line and run:

# Switch to ROS1 environment
mate-terminal -e ros1shell
roslaunch mybuddy_moveit demo.launch

If you want a real robot arm to execute a plan synchronously, you need to open another command line and run:

# Switch to ROS1 environment
mate-terminal -e ros1shell
# The default serial port name of the mybuddy is "/dev/ttyACM0", and the baud rate is 115200".
rosrun mybuddy_moveit sync_plan.py _port:=/dev/ttyACM0 _baud:=115200

Moveit has four control groups, the operation effect is as follows:

1.Left Arm Control Group: plan the movement direction of left arm by dragging the trackball.

2.Right Arm Control Group: plan the movement direction of right arm by dragging the trackball.

3.Waist Control Group: plan the movement direction of waist by dragging the trackball.

4.Overall Control Group: control the movement of both arms and waist together.

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