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How do I interact the actual robot with visualization by rviz in Moveit?

asked 2018-07-24 22:06:12 -0500

MarkNguyen gravatar image

updated 2018-07-24 22:52:04 -0500

I have visualized my robot arm in Rviz. And the actual robot side also connects to RaspberryPi 3 (ROS installed already). I have read many documents and articles but they made me dizzy.

As what I have researched that I have to create a publisher(in Moveit?) then send data to ActionServer (is this I have to setup on Raspberry Pi?), then using Ros in Raspberry to control servo? Is this plan correct?

I am sorry if I make confusing, please help me to fix the plan for interacting with the actual robot!

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Please be more precise. What is "your robot arm"? What do you want to do exactly? What tutorial were/are you following?

fvd gravatar image fvd  ( 2018-08-07 23:06:50 -0500 )edit

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answered 2019-02-12 06:15:34 -0500

SkullKrushur gravatar image

Hi

As far as I know ( based on my previous experience )

  1. First, you need to create a CAD model of the robot.
  2. Create URDF of the model.
  3. In your ROS (Raspberry Pi) open Moveit and upload the urdf.
  4. Define all the joints and necessary things in moveit and create the moveit configuration file.
  5. Now roslaunch this configuration file (demo.launch usually) which opens your model in Rviz.
  6. Rviz will be publishing the joint angles to the jointstates topic.
  7. In your hardware microcontroller (eg. Arduino if you are using ) write a node to subscribe to this jointstates topic.
  8. All the computation will be done by ros and the final commands are given to the arm (hardware).
  9. You can see your arm moving to the desired position as seen in Rviz simulation.

I hope you got a rough idea of the entire procedure.

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Asked: 2018-07-24 22:06:12 -0500

Seen: 392 times

Last updated: Feb 12 '19