Add MoveIt Config for 7dof arm with robotiq_2f_85 gripper - Githubissues

Kinovarobotics / ros2_kortex

ROS2 driver for the Gen3 Kinova robot arm

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Add MoveIt Config for 7dof arm with robotiq_2f_85 gripper #107

Closed abake48 closed 1 year ago

abake48 commented 1 year ago

Generated MoveIt 2 configs using MSA for the 7 DoF Kinova Gen3. Rather than depending on the kortex2_bringup script to launch the ros2_control files, the MoveIt_Config contains a duplicate of them so that MoveIt_Configs_Builder can launch them.

[sc-13302]

Testing:

To test, run the following command to launch the robot with mock hardware in RVIZ and play around with making motion plans with MoveIt:

ros2 launch kinova_gen3_7dof_robotiq_2f_85_moveit_config robot.launch.py robot_ip:=xxx.yyy.zzz.www use_fake_hardware:=true

TODO:

[x] Update READMEs to explain launching mock hardware

shortcut-integration[bot] commented 1 year ago

This pull request has been linked to Shortcut Story #13302: Create Kinova section of moveit2_tutorials.