A catkin package to move any urdf loaded on rviz using joint_state_publisher and MoveIt
catkin_make in the workspace folder.Description of the OW_amr43 robotic arm. The package was provided. ( NOTE: Minor changes were made to the package to import it properly in MoveIt.)
The OW_arm42v3 package imported on MoveIt. The package was created using moveit's setup assisstant.
Package developed to control the model imported on rviz.
A node that uses joint_state_publisher to take values from terminal and adjust the joint variables according for ANY urdf model imported to rviz.
Usage:
roslaunch OW_arm42v3 display.launchrosrun move_bot terminal_joint_state_publisher.pyFollow the prompt. ( NOTE: You can pass all values of velocity and effort as zero for convinience.)
A node to control the model import on MoveIt to achieve the required position.
Usage:
Launch the MoveIt model on rviz
roslaunch OW_arm42_moveit demo.launch(In another terminal) Run the control_joint_state_moveit
rosrun move_bot control_joint_state_moveitFollow the prompt.
A node to control the model import on MoveIt to achieve the required position ONLY through straight lines. (NOTE: The kinematic constraints of the imported model will allow only specific paths to be followed. Also, a straight path is followed from current position to the starting position too, which may happen to lie outside the workspace or at null points of the manipulator. Thus, it is advised to first set the position of arm at some point closer to the starting point using _control_joint_statemoveit and then use _move_in_straightline.)
Usage:
roslaunch OW_arm42_moveit demo.launchrosrun move_bot move_in_straight_lineFollow the prompt.