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how to get my robot arm move with moveit pkg?

asked 2016-05-02 09:09:05 -0500

WuJeff gravatar image

I have created a robot arm with 6DOF ,But I don't know how to move it with moveit pkg, like plot a line or a circle. I failed several times with reference to PR2. The tutorials are not that useful. so ,I need help! thanks

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I need help

WuJeff gravatar image WuJeff  ( 2016-05-06 00:46:08 -0500 )edit

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answered 2016-05-06 15:28:06 -0500

Fredylucas gravatar image

If you have already created the support package for your robot, using the MoveIt! Setup Assistant, you should be able of moving your robot manually through the Motion Planning plugin of MoveIt!.

Once you know your robot is moving in the right way, you could program more complex trajectories from your nodes.

For example, at the beginning you can use move_group for something like this:

 pose = Eigen::Translation3d(0.50, 0.30, 0.70)
            * Eigen::Quaterniond(0, 0, 0, 0);
    group.setPoseTarget(pose);

    // check to see if plan successful
    if (!group.plan(plan))
    {
        ROS_FATAL("Unable to create motion plan.  Aborting.");
        exit(-1);
    }

    // do non-blocking move request
    group.move();

Ater that, you can use this tutorial: http://docs.ros.org/indigo/api/pr2_mo...

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Thanks,yes,I did as your advice,and I created a node named "ur5_node",but I don't how to config the CMakeList.txt file,please tell me,I am not familiar with Moveit!

WuJeff gravatar image WuJeff  ( 2016-05-07 08:39:10 -0500 )edit

you must have a ur5_support package, a moveit_config package (the support for moveit) and a move_group package where you program your own nodes. I recomend you to follow this tutorial step by step http://aeswiki.datasys.swri.edu/rosit... It is quite detailed and comprehensible.

Fredylucas gravatar image Fredylucas  ( 2016-05-08 21:45:02 -0500 )edit

well ,the ROS-Industrial can't be installed,where is the installation package?

WuJeff gravatar image WuJeff  ( 2016-05-09 05:30:49 -0500 )edit

Follow all instructions, here are all steps

Fredylucas gravatar image Fredylucas  ( 2016-05-09 14:42:29 -0500 )edit

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Asked: 2016-05-02 09:09:05 -0500

Seen: 225 times

Last updated: May 06 '16