ROS Index
Package Summary
| Tags | No category tags. |
| Version | 0.0.3 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | This ROS2 eloquent workspace is created on Ubuntu 18.04. Here I have worked on some moveit2 related projects. |
| Checkout URI | https://github.com/iamrajee/ros2eloquent_moveit_ws.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-06-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | eloquent ros moveit ros2 ament moveit2 colcon ros-eloquent |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Blake Anderson
- Andy Zelenak
Authors
- Brian O'Neil
- Andy Zelenak
- Blake Anderson
- Alexander Rössler
Jog Arm
Quick Start Guide for UR5 example
Clone the universal_robot repo into your catkin workspace:
git clone https://github.com/ros-industrial/universal_robot.git
Run rosdep install from the src folder to install dependencies.
rosdep install --from-paths . --ignore-src -y
Build and subsequently source the catkin workspace. Startup the robot and MoveIt:
roslaunch ur_gazebo ur5.launch
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
In RViz, “plan and execute” a motion to a non-singular position (not all zero joint angles) that is not close to a joint limit.
Switch to a compatible type of ros-control controller. It should be a JointGroupVelocityController or a JointGroupPositionController, not a trajectory controller like MoveIt usually requires.
rosservice call /controller_manager/switch_controller "start_controllers:
- 'joint_group_position_controller'
stop_controllers:
- 'arm_controller'
strictness: 2"
Launch the jog node. This example uses commands from a SpaceNavigator joystick-like device:
roslaunch moveit_jog_arm spacenav_cpp.launch
If you dont have a SpaceNavigator, send commands like this:
rostopic pub -r 100 /jog_server/delta_jog_cmds geometry_msgs/TwistStamped "header: auto
twist:
linear:
x: 0.0
y: 0.01
z: -0.01
angular:
x: 0.0
y: 0.0
z: 0.0"
If you see a warning about “close to singularity”, try changing the direction of motion.
Running Tests
Run tests from the jog_arm folder:
catkin run_tests --no-deps --this
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| joy_teleop | |
| rostest | |
| ros_pytest | |
| moveit_resources | |
| control_msgs | |
| geometry_msgs | |
| moveit_ros_planning_interface | |
| rosparam_shortcuts | |
| tf2_ros |
System Dependencies
Dependant Packages
Launch files
- launch/spacenav_cpp.launch
- launch/spacenav_teleop_tools.launch
-
- cmd_vel [default: spacenav/joy]
- teleop_config [default: $(find moveit_jog_arm)/config/spacenav_via_teleop_tools.yaml]
- test/arm_setup/launch/panda_move_group.launch
-
- planner [default: ompl]
- debug [default: false]
- info [default: $(arg debug)]
- allow_trajectory_execution [default: true]
- fake_execution [default: false]
- max_safe_path_cost [default: 1]
- jiggle_fraction [default: 0.05]
- publish_monitored_planning_scene [default: true]
Messages
Services
Plugins
Recent questions tagged moveit_jog_arm at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.3 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | This ROS2 eloquent workspace is created on Ubuntu 18.04. Here I have worked on some moveit2 related projects. |
| Checkout URI | https://github.com/iamrajee/ros2eloquent_moveit_ws.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-06-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | eloquent ros moveit ros2 ament moveit2 colcon ros-eloquent |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Blake Anderson
- Andy Zelenak
Authors
- Brian O'Neil
- Andy Zelenak
- Blake Anderson
- Alexander Rössler
Jog Arm
Quick Start Guide for UR5 example
Clone the universal_robot repo into your catkin workspace:
git clone https://github.com/ros-industrial/universal_robot.git
Run rosdep install from the src folder to install dependencies.
rosdep install --from-paths . --ignore-src -y
Build and subsequently source the catkin workspace. Startup the robot and MoveIt:
roslaunch ur_gazebo ur5.launch
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
In RViz, “plan and execute” a motion to a non-singular position (not all zero joint angles) that is not close to a joint limit.
Switch to a compatible type of ros-control controller. It should be a JointGroupVelocityController or a JointGroupPositionController, not a trajectory controller like MoveIt usually requires.
rosservice call /controller_manager/switch_controller "start_controllers:
- 'joint_group_position_controller'
stop_controllers:
- 'arm_controller'
strictness: 2"
Launch the jog node. This example uses commands from a SpaceNavigator joystick-like device:
roslaunch moveit_jog_arm spacenav_cpp.launch
If you dont have a SpaceNavigator, send commands like this:
rostopic pub -r 100 /jog_server/delta_jog_cmds geometry_msgs/TwistStamped "header: auto
twist:
linear:
x: 0.0
y: 0.01
z: -0.01
angular:
x: 0.0
y: 0.0
z: 0.0"
If you see a warning about “close to singularity”, try changing the direction of motion.
Running Tests
Run tests from the jog_arm folder:
catkin run_tests --no-deps --this
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| joy_teleop | |
| rostest | |
| ros_pytest | |
| moveit_resources | |
| control_msgs | |
| geometry_msgs | |
| moveit_ros_planning_interface | |
| rosparam_shortcuts | |
| tf2_ros |
System Dependencies
Dependant Packages
Launch files
- launch/spacenav_cpp.launch
- launch/spacenav_teleop_tools.launch
-
- cmd_vel [default: spacenav/joy]
- teleop_config [default: $(find moveit_jog_arm)/config/spacenav_via_teleop_tools.yaml]
- test/arm_setup/launch/panda_move_group.launch
-
- planner [default: ompl]
- debug [default: false]
- info [default: $(arg debug)]
- allow_trajectory_execution [default: true]
- fake_execution [default: false]
- max_safe_path_cost [default: 1]
- jiggle_fraction [default: 0.05]
- publish_monitored_planning_scene [default: true]
Messages
Services
Plugins
Recent questions tagged moveit_jog_arm at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.3 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | This ROS2 eloquent workspace is created on Ubuntu 18.04. Here I have worked on some moveit2 related projects. |
| Checkout URI | https://github.com/iamrajee/ros2eloquent_moveit_ws.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-06-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | eloquent ros moveit ros2 ament moveit2 colcon ros-eloquent |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Blake Anderson
- Andy Zelenak
Authors
- Brian O'Neil
- Andy Zelenak
- Blake Anderson
- Alexander Rössler
Jog Arm
Quick Start Guide for UR5 example
Clone the universal_robot repo into your catkin workspace:
git clone https://github.com/ros-industrial/universal_robot.git
Run rosdep install from the src folder to install dependencies.
rosdep install --from-paths . --ignore-src -y
Build and subsequently source the catkin workspace. Startup the robot and MoveIt:
roslaunch ur_gazebo ur5.launch
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
In RViz, “plan and execute” a motion to a non-singular position (not all zero joint angles) that is not close to a joint limit.
Switch to a compatible type of ros-control controller. It should be a JointGroupVelocityController or a JointGroupPositionController, not a trajectory controller like MoveIt usually requires.
rosservice call /controller_manager/switch_controller "start_controllers:
- 'joint_group_position_controller'
stop_controllers:
- 'arm_controller'
strictness: 2"
Launch the jog node. This example uses commands from a SpaceNavigator joystick-like device:
roslaunch moveit_jog_arm spacenav_cpp.launch
If you dont have a SpaceNavigator, send commands like this:
rostopic pub -r 100 /jog_server/delta_jog_cmds geometry_msgs/TwistStamped "header: auto
twist:
linear:
x: 0.0
y: 0.01
z: -0.01
angular:
x: 0.0
y: 0.0
z: 0.0"
If you see a warning about “close to singularity”, try changing the direction of motion.
Running Tests
Run tests from the jog_arm folder:
catkin run_tests --no-deps --this
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| joy_teleop | |
| rostest | |
| ros_pytest | |
| moveit_resources | |
| control_msgs | |
| geometry_msgs | |
| moveit_ros_planning_interface | |
| rosparam_shortcuts | |
| tf2_ros |
System Dependencies
Dependant Packages
Launch files
- launch/spacenav_cpp.launch
- launch/spacenav_teleop_tools.launch
-
- cmd_vel [default: spacenav/joy]
- teleop_config [default: $(find moveit_jog_arm)/config/spacenav_via_teleop_tools.yaml]
- test/arm_setup/launch/panda_move_group.launch
-
- planner [default: ompl]
- debug [default: false]
- info [default: $(arg debug)]
- allow_trajectory_execution [default: true]
- fake_execution [default: false]
- max_safe_path_cost [default: 1]
- jiggle_fraction [default: 0.05]
- publish_monitored_planning_scene [default: true]
Messages
Services
Plugins
Recent questions tagged moveit_jog_arm at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.3 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | This ROS2 eloquent workspace is created on Ubuntu 18.04. Here I have worked on some moveit2 related projects. |
| Checkout URI | https://github.com/iamrajee/ros2eloquent_moveit_ws.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-06-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | eloquent ros moveit ros2 ament moveit2 colcon ros-eloquent |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Blake Anderson
- Andy Zelenak
Authors
- Brian O'Neil
- Andy Zelenak
- Blake Anderson
- Alexander Rössler
Jog Arm
Quick Start Guide for UR5 example
Clone the universal_robot repo into your catkin workspace:
git clone https://github.com/ros-industrial/universal_robot.git
Run rosdep install from the src folder to install dependencies.
rosdep install --from-paths . --ignore-src -y
Build and subsequently source the catkin workspace. Startup the robot and MoveIt:
roslaunch ur_gazebo ur5.launch
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
In RViz, “plan and execute” a motion to a non-singular position (not all zero joint angles) that is not close to a joint limit.
Switch to a compatible type of ros-control controller. It should be a JointGroupVelocityController or a JointGroupPositionController, not a trajectory controller like MoveIt usually requires.
rosservice call /controller_manager/switch_controller "start_controllers:
- 'joint_group_position_controller'
stop_controllers:
- 'arm_controller'
strictness: 2"
Launch the jog node. This example uses commands from a SpaceNavigator joystick-like device:
roslaunch moveit_jog_arm spacenav_cpp.launch
If you dont have a SpaceNavigator, send commands like this:
rostopic pub -r 100 /jog_server/delta_jog_cmds geometry_msgs/TwistStamped "header: auto
twist:
linear:
x: 0.0
y: 0.01
z: -0.01
angular:
x: 0.0
y: 0.0
z: 0.0"
If you see a warning about “close to singularity”, try changing the direction of motion.
Running Tests
Run tests from the jog_arm folder:
catkin run_tests --no-deps --this
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| joy_teleop | |
| rostest | |
| ros_pytest | |
| moveit_resources | |
| control_msgs | |
| geometry_msgs | |
| moveit_ros_planning_interface | |
| rosparam_shortcuts | |
| tf2_ros |
System Dependencies
Dependant Packages
Launch files
- launch/spacenav_cpp.launch
- launch/spacenav_teleop_tools.launch
-
- cmd_vel [default: spacenav/joy]
- teleop_config [default: $(find moveit_jog_arm)/config/spacenav_via_teleop_tools.yaml]
- test/arm_setup/launch/panda_move_group.launch
-
- planner [default: ompl]
- debug [default: false]
- info [default: $(arg debug)]
- allow_trajectory_execution [default: true]
- fake_execution [default: false]
- max_safe_path_cost [default: 1]
- jiggle_fraction [default: 0.05]
- publish_monitored_planning_scene [default: true]
Messages
Services
Plugins
Recent questions tagged moveit_jog_arm at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.3 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | This ROS2 eloquent workspace is created on Ubuntu 18.04. Here I have worked on some moveit2 related projects. |
| Checkout URI | https://github.com/iamrajee/ros2eloquent_moveit_ws.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-06-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | eloquent ros moveit ros2 ament moveit2 colcon ros-eloquent |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Blake Anderson
- Andy Zelenak
Authors
- Brian O'Neil
- Andy Zelenak
- Blake Anderson
- Alexander Rössler
Jog Arm
Quick Start Guide for UR5 example
Clone the universal_robot repo into your catkin workspace:
git clone https://github.com/ros-industrial/universal_robot.git
Run rosdep install from the src folder to install dependencies.
rosdep install --from-paths . --ignore-src -y
Build and subsequently source the catkin workspace. Startup the robot and MoveIt:
roslaunch ur_gazebo ur5.launch
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
In RViz, “plan and execute” a motion to a non-singular position (not all zero joint angles) that is not close to a joint limit.
Switch to a compatible type of ros-control controller. It should be a JointGroupVelocityController or a JointGroupPositionController, not a trajectory controller like MoveIt usually requires.
rosservice call /controller_manager/switch_controller "start_controllers:
- 'joint_group_position_controller'
stop_controllers:
- 'arm_controller'
strictness: 2"
Launch the jog node. This example uses commands from a SpaceNavigator joystick-like device:
roslaunch moveit_jog_arm spacenav_cpp.launch
If you dont have a SpaceNavigator, send commands like this:
rostopic pub -r 100 /jog_server/delta_jog_cmds geometry_msgs/TwistStamped "header: auto
twist:
linear:
x: 0.0
y: 0.01
z: -0.01
angular:
x: 0.0
y: 0.0
z: 0.0"
If you see a warning about “close to singularity”, try changing the direction of motion.
Running Tests
Run tests from the jog_arm folder:
catkin run_tests --no-deps --this
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| joy_teleop | |
| rostest | |
| ros_pytest | |
| moveit_resources | |
| control_msgs | |
| geometry_msgs | |
| moveit_ros_planning_interface | |
| rosparam_shortcuts | |
| tf2_ros |
System Dependencies
Dependant Packages
Launch files
- launch/spacenav_cpp.launch
- launch/spacenav_teleop_tools.launch
-
- cmd_vel [default: spacenav/joy]
- teleop_config [default: $(find moveit_jog_arm)/config/spacenav_via_teleop_tools.yaml]
- test/arm_setup/launch/panda_move_group.launch
-
- planner [default: ompl]
- debug [default: false]
- info [default: $(arg debug)]
- allow_trajectory_execution [default: true]
- fake_execution [default: false]
- max_safe_path_cost [default: 1]
- jiggle_fraction [default: 0.05]
- publish_monitored_planning_scene [default: true]
Messages
Services
Plugins
Recent questions tagged moveit_jog_arm at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.3 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | This ROS2 eloquent workspace is created on Ubuntu 18.04. Here I have worked on some moveit2 related projects. |
| Checkout URI | https://github.com/iamrajee/ros2eloquent_moveit_ws.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-06-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | eloquent ros moveit ros2 ament moveit2 colcon ros-eloquent |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Blake Anderson
- Andy Zelenak
Authors
- Brian O'Neil
- Andy Zelenak
- Blake Anderson
- Alexander Rössler
Jog Arm
Quick Start Guide for UR5 example
Clone the universal_robot repo into your catkin workspace:
git clone https://github.com/ros-industrial/universal_robot.git
Run rosdep install from the src folder to install dependencies.
rosdep install --from-paths . --ignore-src -y
Build and subsequently source the catkin workspace. Startup the robot and MoveIt:
roslaunch ur_gazebo ur5.launch
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
In RViz, “plan and execute” a motion to a non-singular position (not all zero joint angles) that is not close to a joint limit.
Switch to a compatible type of ros-control controller. It should be a JointGroupVelocityController or a JointGroupPositionController, not a trajectory controller like MoveIt usually requires.
rosservice call /controller_manager/switch_controller "start_controllers:
- 'joint_group_position_controller'
stop_controllers:
- 'arm_controller'
strictness: 2"
Launch the jog node. This example uses commands from a SpaceNavigator joystick-like device:
roslaunch moveit_jog_arm spacenav_cpp.launch
If you dont have a SpaceNavigator, send commands like this:
rostopic pub -r 100 /jog_server/delta_jog_cmds geometry_msgs/TwistStamped "header: auto
twist:
linear:
x: 0.0
y: 0.01
z: -0.01
angular:
x: 0.0
y: 0.0
z: 0.0"
If you see a warning about “close to singularity”, try changing the direction of motion.
Running Tests
Run tests from the jog_arm folder:
catkin run_tests --no-deps --this
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| joy_teleop | |
| rostest | |
| ros_pytest | |
| moveit_resources | |
| control_msgs | |
| geometry_msgs | |
| moveit_ros_planning_interface | |
| rosparam_shortcuts | |
| tf2_ros |
System Dependencies
Dependant Packages
Launch files
- launch/spacenav_cpp.launch
- launch/spacenav_teleop_tools.launch
-
- cmd_vel [default: spacenav/joy]
- teleop_config [default: $(find moveit_jog_arm)/config/spacenav_via_teleop_tools.yaml]
- test/arm_setup/launch/panda_move_group.launch
-
- planner [default: ompl]
- debug [default: false]
- info [default: $(arg debug)]
- allow_trajectory_execution [default: true]
- fake_execution [default: false]
- max_safe_path_cost [default: 1]
- jiggle_fraction [default: 0.05]
- publish_monitored_planning_scene [default: true]
Messages
Services
Plugins
Recent questions tagged moveit_jog_arm at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.3 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | This ROS2 eloquent workspace is created on Ubuntu 18.04. Here I have worked on some moveit2 related projects. |
| Checkout URI | https://github.com/iamrajee/ros2eloquent_moveit_ws.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-06-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | eloquent ros moveit ros2 ament moveit2 colcon ros-eloquent |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Blake Anderson
- Andy Zelenak
Authors
- Brian O'Neil
- Andy Zelenak
- Blake Anderson
- Alexander Rössler
Jog Arm
Quick Start Guide for UR5 example
Clone the universal_robot repo into your catkin workspace:
git clone https://github.com/ros-industrial/universal_robot.git
Run rosdep install from the src folder to install dependencies.
rosdep install --from-paths . --ignore-src -y
Build and subsequently source the catkin workspace. Startup the robot and MoveIt:
roslaunch ur_gazebo ur5.launch
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
In RViz, “plan and execute” a motion to a non-singular position (not all zero joint angles) that is not close to a joint limit.
Switch to a compatible type of ros-control controller. It should be a JointGroupVelocityController or a JointGroupPositionController, not a trajectory controller like MoveIt usually requires.
rosservice call /controller_manager/switch_controller "start_controllers:
- 'joint_group_position_controller'
stop_controllers:
- 'arm_controller'
strictness: 2"
Launch the jog node. This example uses commands from a SpaceNavigator joystick-like device:
roslaunch moveit_jog_arm spacenav_cpp.launch
If you dont have a SpaceNavigator, send commands like this:
rostopic pub -r 100 /jog_server/delta_jog_cmds geometry_msgs/TwistStamped "header: auto
twist:
linear:
x: 0.0
y: 0.01
z: -0.01
angular:
x: 0.0
y: 0.0
z: 0.0"
If you see a warning about “close to singularity”, try changing the direction of motion.
Running Tests
Run tests from the jog_arm folder:
catkin run_tests --no-deps --this
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| joy_teleop | |
| rostest | |
| ros_pytest | |
| moveit_resources | |
| control_msgs | |
| geometry_msgs | |
| moveit_ros_planning_interface | |
| rosparam_shortcuts | |
| tf2_ros |
System Dependencies
Dependant Packages
Launch files
- launch/spacenav_cpp.launch
- launch/spacenav_teleop_tools.launch
-
- cmd_vel [default: spacenav/joy]
- teleop_config [default: $(find moveit_jog_arm)/config/spacenav_via_teleop_tools.yaml]
- test/arm_setup/launch/panda_move_group.launch
-
- planner [default: ompl]
- debug [default: false]
- info [default: $(arg debug)]
- allow_trajectory_execution [default: true]
- fake_execution [default: false]
- max_safe_path_cost [default: 1]
- jiggle_fraction [default: 0.05]
- publish_monitored_planning_scene [default: true]
Messages
Services
Plugins
Recent questions tagged moveit_jog_arm at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.3 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | This ROS2 eloquent workspace is created on Ubuntu 18.04. Here I have worked on some moveit2 related projects. |
| Checkout URI | https://github.com/iamrajee/ros2eloquent_moveit_ws.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-06-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | eloquent ros moveit ros2 ament moveit2 colcon ros-eloquent |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Blake Anderson
- Andy Zelenak
Authors
- Brian O'Neil
- Andy Zelenak
- Blake Anderson
- Alexander Rössler
Jog Arm
Quick Start Guide for UR5 example
Clone the universal_robot repo into your catkin workspace:
git clone https://github.com/ros-industrial/universal_robot.git
Run rosdep install from the src folder to install dependencies.
rosdep install --from-paths . --ignore-src -y
Build and subsequently source the catkin workspace. Startup the robot and MoveIt:
roslaunch ur_gazebo ur5.launch
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
In RViz, “plan and execute” a motion to a non-singular position (not all zero joint angles) that is not close to a joint limit.
Switch to a compatible type of ros-control controller. It should be a JointGroupVelocityController or a JointGroupPositionController, not a trajectory controller like MoveIt usually requires.
rosservice call /controller_manager/switch_controller "start_controllers:
- 'joint_group_position_controller'
stop_controllers:
- 'arm_controller'
strictness: 2"
Launch the jog node. This example uses commands from a SpaceNavigator joystick-like device:
roslaunch moveit_jog_arm spacenav_cpp.launch
If you dont have a SpaceNavigator, send commands like this:
rostopic pub -r 100 /jog_server/delta_jog_cmds geometry_msgs/TwistStamped "header: auto
twist:
linear:
x: 0.0
y: 0.01
z: -0.01
angular:
x: 0.0
y: 0.0
z: 0.0"
If you see a warning about “close to singularity”, try changing the direction of motion.
Running Tests
Run tests from the jog_arm folder:
catkin run_tests --no-deps --this
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| joy_teleop | |
| rostest | |
| ros_pytest | |
| moveit_resources | |
| control_msgs | |
| geometry_msgs | |
| moveit_ros_planning_interface | |
| rosparam_shortcuts | |
| tf2_ros |
System Dependencies
Dependant Packages
Launch files
- launch/spacenav_cpp.launch
- launch/spacenav_teleop_tools.launch
-
- cmd_vel [default: spacenav/joy]
- teleop_config [default: $(find moveit_jog_arm)/config/spacenav_via_teleop_tools.yaml]
- test/arm_setup/launch/panda_move_group.launch
-
- planner [default: ompl]
- debug [default: false]
- info [default: $(arg debug)]
- allow_trajectory_execution [default: true]
- fake_execution [default: false]
- max_safe_path_cost [default: 1]
- jiggle_fraction [default: 0.05]
- publish_monitored_planning_scene [default: true]
Messages
Services
Plugins
Recent questions tagged moveit_jog_arm at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.0.3 |
| License | BSD 3-Clause |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | This ROS2 eloquent workspace is created on Ubuntu 18.04. Here I have worked on some moveit2 related projects. |
| Checkout URI | https://github.com/iamrajee/ros2eloquent_moveit_ws.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-06-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | eloquent ros moveit ros2 ament moveit2 colcon ros-eloquent |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Blake Anderson
- Andy Zelenak
Authors
- Brian O'Neil
- Andy Zelenak
- Blake Anderson
- Alexander Rössler
Jog Arm
Quick Start Guide for UR5 example
Clone the universal_robot repo into your catkin workspace:
git clone https://github.com/ros-industrial/universal_robot.git
Run rosdep install from the src folder to install dependencies.
rosdep install --from-paths . --ignore-src -y
Build and subsequently source the catkin workspace. Startup the robot and MoveIt:
roslaunch ur_gazebo ur5.launch
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
In RViz, “plan and execute” a motion to a non-singular position (not all zero joint angles) that is not close to a joint limit.
Switch to a compatible type of ros-control controller. It should be a JointGroupVelocityController or a JointGroupPositionController, not a trajectory controller like MoveIt usually requires.
rosservice call /controller_manager/switch_controller "start_controllers:
- 'joint_group_position_controller'
stop_controllers:
- 'arm_controller'
strictness: 2"
Launch the jog node. This example uses commands from a SpaceNavigator joystick-like device:
roslaunch moveit_jog_arm spacenav_cpp.launch
If you dont have a SpaceNavigator, send commands like this:
rostopic pub -r 100 /jog_server/delta_jog_cmds geometry_msgs/TwistStamped "header: auto
twist:
linear:
x: 0.0
y: 0.01
z: -0.01
angular:
x: 0.0
y: 0.0
z: 0.0"
If you see a warning about “close to singularity”, try changing the direction of motion.
Running Tests
Run tests from the jog_arm folder:
catkin run_tests --no-deps --this
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| joy_teleop | |
| rostest | |
| ros_pytest | |
| moveit_resources | |
| control_msgs | |
| geometry_msgs | |
| moveit_ros_planning_interface | |
| rosparam_shortcuts | |
| tf2_ros |
System Dependencies
Dependant Packages
Launch files
- launch/spacenav_cpp.launch
- launch/spacenav_teleop_tools.launch
-
- cmd_vel [default: spacenav/joy]
- teleop_config [default: $(find moveit_jog_arm)/config/spacenav_via_teleop_tools.yaml]
- test/arm_setup/launch/panda_move_group.launch
-
- planner [default: ompl]
- debug [default: false]
- info [default: $(arg debug)]
- allow_trajectory_execution [default: true]
- fake_execution [default: false]
- max_safe_path_cost [default: 1]
- jiggle_fraction [default: 0.05]
- publish_monitored_planning_scene [default: true]