Closed patrickwasp closed 1 month ago
Hi @patrickwasp,
I don't know much about the MTC tutorial, but I can help you with the portion of code you linked. First, for the pick_and_place launch file, you want a moveit config for our Gen3 arm. You can take the one from our moveit example (I took the 6dof example, but a 7dof example is available as well) https://github.com/Kinovarobotics/ros2_kortex/blob/a2f018ab8c39e97fe91f57c27b8e59852b029da4/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/launch/robot.launch.py#L41-L57
make sure to pass moveit_config.to_dict()
in your parameters or add .to_dict()
when creating your moveit_config object
https://github.com/Kinovarobotics/ros2_kortex/blob/main/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/launch/robot.launch.py#L66
For the CreateTask function, what you are saying makes sense, but you will need to use the correct node_
with the gen3 model
Best, Felix
@felixmaisonneuve I prepared a minimal environment to troubleshoot working with a kinova 6 dof and robotiq 85 gripper along with task constructor.
https://github.com/ecoation-labs/ros2-kortex-pick-and-place-with-moveit-task-constructor/
I'm looking to replicate the tutorial example with the FRANKA EMIKA Panda arm shown in the moveit2 tutorial documentation.
Can you please see if you can find the errors I made?
@patrickwasp
Hi, patrick
Did you figured out how to solve that problem?? I found moveit_config = MoveItConfigsBuilder("moveit_resources_panda").to_dict()
should be changed to moveit_config = MoveItConfigsBuilder("gen3", package_name="kinova_gen3_6dof_robotiq_2f_85_moveit_config").to_dict()
and maybe I think
const auto& arm_group_name = "panda_arm";
const auto& hand_group_name = "hand";
const auto& hand_frame = "panda_hand";
should be replace to
const auto& arm_group_name = "manipulator";
const auto& hand_group_name = "gripper";
const auto& hand_frame = "end_effector_link";
Closing due to inactivity - reply to the thread if you need the issue to be reopened
I'm trying to run modify the tutorial for task constructor to run with a gen3 arm. It seems that the following pieces of config would have to change, but I'm not sure what to.
pick_place_demo.launch.py
specifically this line:
moveit_config = MoveItConfigsBuilder("moveit_resources_panda").to_dict()
and
mtc_tutorial.cpp
I think this might work once the
moveit_config
is setup correctly