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moveit / panda_moveit_config

The Panda robot is the flagship MoveIt integration robot
http://docs.ros.org/kinetic/api/moveit_tutorials/html/
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How to use Moveit on FR3 #124

Closed BolunDai0216 closed 1 year ago

BolunDai0216 commented 1 year ago

Hi,

I was wondering if it would be possible to point me to some resources that show how to use moveit on a real robot. I did not see franka_control.launch used in the other launch files.

Thanks in advance!

rhaschke commented 1 year ago

You use MoveIt in exactly the same fashion on a real robot, a Gazebo simulation, or the even simpler rviz-only simulation. Just tell MoveIt which robot controllers to use for actuation. A corresponding tutorial can be found here: https://ros-planning.github.io/moveit_tutorials/doc/controller_configuration/controller_configuration_tutorial.html

rhaschke commented 1 year ago

franka_control.launch is used in franka_control.launch of this package: https://github.com/ros-planning/panda_moveit_config/blob/b5ce35571832b4165f67f5db51c69581354d2cee/launch/franka_control.launch#L7