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Connect real kuka and moveit by using KRC2

asked 2022-06-18 04:10:22 -0600

PRA008 gravatar image

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 robot_interface_streaming.launch from here, it's because as far as I know it was written based on KRC4.

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answered 2022-06-21 07:02:55 -0600

PRA008 gravatar image

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.

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Asked: 2022-06-18 04:10:22 -0600

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Last updated: Jun 21 '22