ros2 move real robot (Franka Emika Panda)

asked 2021-01-03 03:41:48 -0600

Danroy gravatar image

updated 2021-01-08 03:33:38 -0600

gvdhoorn gravatar image

Hallo everyone, i am currently trying to switch from ros1 to ros2. Therefore I was able to install the moveit2 package and to show and move the franka emika robot in rviz. I used to work with the UR10 in the past and i am starting to work with the franka emika robot in our lab. My question now is, how am i able to move the real robot. Back in ROS 1 i was changing the sim value in the motion_planning.launch file as well as adding the robot_ip to control the real robot. But i cant find a similar file in the new moveit2 packages.

Soo - How can i move the real franka_emika robot using the moveit2 packages?

I would really appreciate, if you guys can help me out and we are able to answer my question. If any further information or details are needed, please let me know.

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Comments

I would suggest you ask Franka Emika (mfg of the Panda robots) about their ROS 2 support.

Afaik they currently only support ROS 1, which is probably largely because of the fact that until very recently, there was no ros_control for ROS 2.

gvdhoorn gravatar image gvdhoorn  ( 2021-01-04 03:40:51 -0600 )edit

Thanks for your comment. That are kinda sad news. I thought, due to the fact that moveit2 is using the franka_emika robot, that it is also possible to move the robot using moveit2. Ill ask them. If anyone getting or having other information about that please let me know. But i am still wondering about my second question. How to modify the moveit2 package in order to implement the enviroment. Help would be appreciated.

Danroy gravatar image Danroy  ( 2021-01-06 03:25:15 -0600 )edit

But i am still wondering about my second question. How to modify the moveit2 package in order to implement the enviroment. Help would be appreciated.

It's not a good idea to ask multiple questions in a single post.

The title of your post is "ros2 move real robot", there is nothing which refers to "implement the environment".

You'll want to split your post into two. Keep the part about interfacing with real robots and MoveIt2 here, and move the part about environment modelling to another (new) post.

gvdhoorn gravatar image gvdhoorn  ( 2021-01-06 03:33:30 -0600 )edit

I have changed the question as gvdhoom proposed.

Danroy gravatar image Danroy  ( 2021-01-08 03:30:51 -0600 )edit

Did you somehow manage wo make it work with ros2?

snice gravatar image snice  ( 2021-05-06 01:06:17 -0600 )edit
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