Closed munseng-flexiv closed 9 months ago
In order to start realtime arm servoing with MoveIt Servo, please refer to the MoveIt documentation: Realtime Arm Servoing.
Change the joint trajectory controller to velocity command interface in _flexiv_bringup/config/rizoncontrollers.yaml
rizon_arm_controller: ros__parameters: joints: - joint1 - joint2 - joint3 - joint4 - joint5 - joint6 - joint7 command_interfaces: - velocity state_interfaces: - position - velocity state_publish_rate: 100.0 action_monitor_rate: 20.0 allow_partial_joints_goal: false constraints: stopped_velocity_tolerance: 0.01 goal_time: 0.0 gains: joint1: {ff_velocity_scale: 1.0} joint2: {ff_velocity_scale: 1.0} joint3: {ff_velocity_scale: 1.0} joint4: {ff_velocity_scale: 1.0} joint5: {ff_velocity_scale: 1.0} joint6: {ff_velocity_scale: 1.0} joint7: {ff_velocity_scale: 1.0}
Launch Moveit with "start_servo" enabled:
ros2 launch flexiv_bringup rizon_moveit.launch.py robot_ip:=[robot_ip] local_ip:=[local_ip] start_servo:=true
Send a service request to start Servo:
ros2 service call /servo_node/start_servo std_srvs/srv/Trigger {}
Send commands to the servo node to test if the robot moves, for example:
ros2 topic pub /servo_node/delta_twist_cmds geometry_msgs/msg/TwistStamped "{ header: { stamp: 'now' }, twist: {linear: {x: 0.1}, angular: { }}}" -r 10
ADD
Example
In order to start realtime arm servoing with MoveIt Servo, please refer to the MoveIt documentation: Realtime Arm Servoing.
Change the joint trajectory controller to velocity command interface in _flexiv_bringup/config/rizoncontrollers.yaml
Launch Moveit with "start_servo" enabled:
Send a service request to start Servo:
Send commands to the servo node to test if the robot moves, for example: