ros2 launch moveit_resources_fanuc_moveit_config demo.launch

asked 2022-01-21 04:24:06 -0500

Manoj
11 ●1 ●2 ●2

updated 2022-01-21 12:01:32 -0500

osilva

1650 ●3 ●172 ●19 https://github.com/rob...

Hi, I am using moveit2 on ros2 foxy.

I am trying to configure my robot URDF file for the moveit2 ROS foxy and run my robot on moveit2. I generated URDF file using Solid works. As there is no setup assistant for the moveit2 ROS foxy, I configured my URDF file using moveit1 noetic. And added that file to the moveit2 foxy workspace. And i changed the Cmakefile and package.xml file with reference to the fanuc_moveit_config. And my robot URDF package is exactly similar to the fanuc_moveit_config.

My robot URDF file is building properly and and I am able to see my robot urdf config and moveit_resources_fanuc_moveit_ config packages in launch packages. But when i see the launch files in that particular packages, I am unable to launch the demo.launch file both the packages. And I am able to see only the .xml files in the launch files list of the both packages.

Please guide me how to launch the moveit_resources_fanuc_moveit_config demo.launch file. And share me any data relating how to modify the urdf config file generated by ROS1 to ROS2.

answered 2022-01-21 16:49:44 -0500

cst0
119 ●17 ●7

updated 2022-01-24 09:15:34 -0500

This appears to be a ROS1 package. To launch the demo.launch file in the moveit_resources_fanuc_moveit_config package, run:

roslaunch moveit_resources_fanuc_moveit_config demo.launch

Make sure that you have:

Installed the package, looks like you'll need to do that by building from source: clone this repo into the src/ of your catkin workspace and then build (more info here)
Sourced the workspace (more info here)

However, I would point out that (per the source repository): "Use ROS-Industrial's upstream files if you actually want to work with the robot!". So, you may not be using this package properly.

For ROS 2, the command is ros2 launch <package_name> <launch_file_name> (see here), so your command would be:

ros2 launch moveit_resources_fanuc_moveit_config demo.launch

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Hi, Thanks for response. As I informed in my query, I am using ROS2 foxy moveit2. you can find the Ros2 moveit repo https://github.com/ros-planning/movei...

As i mentioned the packages are building in colcon workspace, but at the time of launching, its only showing the .xml files only. And as you can see that the cmakefile file in that repo link above is also contains ROS2 commands.

So please guide me how can launch that in the ROS2 foxy.

Or else please share me link how to convert and run the configuration file generated by using the ROS1 setup assistant in ROS2.

Manoj ( 2022-01-24 00:42:35 -0500 )edit

@Manoj: perhaps you could help @cst0 by explaining what you really want to do.

Are you trying to control a real Fanuc robot with MoveIt 2. Or some other robot?

gvdhoorn ( 2022-01-24 03:05:36 -0500 )edit

@cst0 , @gvdhoorn Please Tell me how to launch the moveit_resources_fanuc_moveit_config demo.launch file in the ROS2 Foxy Moveit2. I just want to visually see the fanuc Robot in rviz. it will be helpful if you tell me how to launch the demo.launch file existing in the moveit_resources_fanuc_moveit_config package in the ROS2 Foxy.

Manoj ( 2022-01-24 04:32:17 -0500 )edit

I've updated my answer to answer that, but I think the source of the confusion is that running a launchfile is pretty well-documented, so it's not totally clear what specific issue you may be having here. Is there any reason this launch file doesn't seem to be working for you?

cst0 ( 2022-01-24 09:17:42 -0500 )edit

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