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waveshareteam / roarm_ws_em0

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moveit poses #4

Open giwrgakhhs opened 1 week ago

giwrgakhhs commented 1 week ago

how can i add pose on moveit 2 for roarm m2 s

DUDULRX commented 1 week ago

steps: optionally, find the joint angle corresponding to the pose, select the desired pose joint angle, and record it

ros2 launch roarm_description display.launch.py

modify the following file "~/roarm_ws_em0/src/roarm_main/roarm_moveit/config/roarm_description.srdf", add pose after line 26,for example, 

<group_state name="pose1" group="hand">
    <joint name="base_link_to_link1" value="0"/>
    <joint name="link1_to_link2" value="0.801"/>
    <joint name="link2_to_link3" value="2.401"/>
</group_state>

企业微信截图_17323273607592

then go to workspaces， recompile 

cd ~/roarm_ws_em0/
colcon build --symlink-install --packages-select roarm_moveit

run

ros2 launch roarm_moveit interact.launch.py

click "Goal State" to see the newly added pose 企业微信截图_17323290846469