Connect real kuka and moveit by using KRC2
I am looking for a way to connect a real robot to ros and I want to control it with moveit show on rviz. I am using RSI and KRC2 by following steps from kuka_experimental which I have done until the $ rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller
step.
I previously found this interesting thread and tried to follow it, but I still have concerns about robotinterfacestreaming.launch from here, it's because as far as I know it was written based on KRC4.
Asked by PRA008 on 2022-06-18 04:10:22 UTC
Answers
I've found a basic solution!
To do that, I'm just trying to do something simple by following this thread's progress.
And yes I got the problem that when I press execute the plan the real robot doesn't move.
But it can tell a real robot to move according to your execute the plan on rviz if you don't open rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller
or turn on but do not press the start button of the controller manager.
Asked by PRA008 on 2022-06-21 07:02:55 UTC
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