Getting started with moveIt and youbot

asked 2013-09-23 04:21:45 -0600

Rasmus gravatar image

updated 2013-11-14 10:41:22 -0600

tfoote gravatar image

Hi,

I am trying to get started with moveIt and the kuka youbot. I have followed the tutorials on the moveit wiki: http://moveit.ros.org/wiki/Tutorials

and everything works just fine in RVIZ, but I do not know how I should manage to connect it with a simulated robot in Gazebo. I simply do not fully understand what I need to do in order to translate the PR2-info in the guide http://moveit.ros.org/wiki/PR2/Gazebo/Quick_Start%3C/p%3E

to make it work with the youbot.

Do I need to write an actual ros-node or is it "just" a matter of configuration?

I'm running ros-groovy with gazebo-1.9 and gazebo_ros installed from source, if that makes any difference..

I hope someone can provide some additional information as i would like to get going with moveit.

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[1] http://moveit.ros.org/wiki/Tutorials [2] http://moveit.ros.org/wiki/PR2/Gazebo/Quick_Start

Rasmus gravatar image Rasmus  ( 2013-09-23 04:21:59 -0600 )edit

Can you be more specific in terms of what you mean by connect to gazebo? I assume you want to make the robot move in gazebo? All you need to do is load controllers for the youbot and tell moveit about them. Maybe looking here helps: http://moveit.ros.org/wiki/Executing_Trajectories_with_MoveIt!

isucan gravatar image isucan  ( 2013-10-01 02:12:12 -0600 )edit

It is probably just me being an ignorant, but when you say I just need to load controllers for the youbot and tell moveIt about them, i dont knoe how to do it? Im using a ros_control approach in gazebo as hinted in the gazebo tutorials: http://gazebosim.org/wiki/Tutorials/1.9/ROS_Control_with_Gazebo

Rasmus gravatar image Rasmus  ( 2013-10-01 02:34:04 -0600 )edit
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