How can I use ros_control interface(and naive RAPID) together with moveit( its planner and execution)?I was confused actually, Thanks.

OrebroUniversity / yumi

ROS packages pertaining to the ABB YuMi (IRB 14000) robot

BSD 2-Clause "Simplified" License

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Closed JJHu1993 closed 6 years ago

JJHu1993 commented 6 years ago

How can I use ros_control interface(and naive RAPID) together with moveit( its planner and execution)? Thanks , I was confused actually.

YoshuaNava commented 6 years ago

Hey, First of all you need to load the RAPID modules into YuMi. Check this guide

Then, you'll have to connect your robot to your PC, and setup a LAN. Network setup

To control the robot by means of ROS controllers, launch the live robot nodes

Finally, if you want to use a planner, as a start I recommend using MoveIt!

Please let me know if this helps,

Yoshua