How to move Panda robot

Hi,

I am quite new to programming and the ROS environment. I am trying to move a panda robot. I have tried the moveit tutorials and have added the pandamoveitconfig to my workspace. I am unable to move the robot in the cartesian space.

I assume the movegroup c++ tutorial should help me to run it but I am unable to move the real robot using this. I can see the visualizations in rviz using the pandamoveitconfigtutorials package. I understand that the demo.launch file has fake_controllers and thus can't be used to control the real robot. Is there another launch file that I should be using to do this or would I have to create my own launch file. If so how should I go about it?

Thanks in advance!

Asked by Abhinavgandhi09 on 2019-04-09 18:03:33 UTC

Comments

I've never worked with a real Panda, but the Franka ROS packages seem to be what you're looking for, specifically this section on the panda moveit config.

Asked by BryceWilley on 2019-04-09 22:21:59 UTC

Answers

hi try starting: roslaunch panda_moveit_config panda_control_moveit_rviz.launch load_gripper:=<true|false> \ robot_ip:=<fci-ip>

Asked by nagamoto on 2019-04-21 14:58:44 UTC

Comments

Thanks for the suggestion I was able to get it working a couple of weeks ago. I had accidentally deleted this launch file in question and was trying to create my own without any success. I only realized I was missing the launchfile when I was looking at their github repo.

Very stupid mistake.

Asked by Abhinavgandhi09 on 2019-04-21 23:10:45 UTC