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How to move Panda robot

asked 2019-04-09 18:03:33 -0600

Abhinavgandhi09 gravatar image

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 panda_moveit_config to my workspace. I am unable to move the robot in the cartesian space.

I assume the move_group 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 panda_moveit_config_tutorials 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!

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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.

BryceWilley gravatar image BryceWilley  ( 2019-04-09 22:21:59 -0600 )edit

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answered 2019-04-21 23:10:45 -0600

Abhinavgandhi09 gravatar image

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.

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answered 2019-04-21 14:58:44 -0600

nagamoto gravatar image

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

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Asked: 2019-04-09 18:03:33 -0600

Seen: 657 times

Last updated: Apr 21 '19