Launch examples

After building and sourcing the workspace, run the standard RM75 motion-planning example provided by this package:

# Simulation or generation 3/4 real robot: start the matching standard RM75 MoveIt environment, then run in another terminal
ros2 launch rm_moveit2 moveit_rm75.launch.py

This package provides motion-planning examples for ECO63, RM75, and RX75. The launch filename selects the model; these examples do not expose arm_type or mode. Simulation and real robots use the same example entry, with the running MoveIt environment determining the target. This example uses the standard RM75. For generation 4 6f (formerly 6fb) end-link selection, see the unified-entry model table. See the generation-specific model table.

Content

• 1.rm_moveit2 Package Description
• 2.rm_moveit2 Package Use
• 2.1Basic Package Use
• 2.2Advanced Package Use
• 3.rm_moveit2 Package Architecture Description
• 3.1Overview of Package Files

rm_moveit2_Package_Description

rm_moveit2 is a MoveIt2 control example package for RealMan robotic arms. It currently provides launch entries for ECO63, RM75, and RX75 dual-arm motion planning demos.

• 1.Package use.
• 2.Package architecture description. Through the introduction of these two parts, it can help you:
• 1.Understand the package use.
• 2.Familiar with the file structure and function of the package.

rm_moveit2_Package_Use

Basic_Package_Use

Before running rm_moveit2, first start the corresponding rm_driver, rm_description, rm_control, and MoveIt configuration package nodes. For ECO63 and RM75, the MoveIt environment can be started with the corresponding rm__config package. For RX75 dual-arm, please use the dedicated rm_rx75_config package.

Start the ECO63 example with the following command.

rm@rm-desktop:~$ ros2 launch rm_moveit2 moveit_eco63.launch.py

Start the RM75 example with the following command.

rm@rm-desktop:~$ ros2 launch rm_moveit2 moveit_rm75.launch.py

Start the RX75 dual-arm example with the following command.

rm@rm-desktop:~$ ros2 launch rm_moveit2 moveit_rx75.launch.py

Before starting the RX75 dual-arm example, launch the default RX75-6FB MoveIt environment:

rm@rm-desktop:~$ ros2 launch rm_rx75_config demo_6fb.launch.py

Use demo_6fb_v.launch.py only when running the RX75-6FB-V variant.

Advanced_Package_Use

The common parameters of rm_moveit2 are configured in the launch files. Parameter planning_group: the planning group used by MoveIt. The default value is rm_group for ECO63 and RM75, and right_arm for RX75. Parameter current_state_wait_sec: the waiting time for reading the current state. Parameter velocity_scaling: the motion velocity scaling factor. Parameter acceleration_scaling: the motion acceleration scaling factor. Parameter planning_time: the planning time of MoveIt. Parameter home_named_target: the named target used when moving to the initial posture. Parameter enable_pose_target: whether to directly plan to the pose target given by pose_target_csv. Parameter pose_target_csv: the pose target in x,y,z,rx,ry,rz format. Parameter pose_target_position_in_mm: whether the x,y,z values in pose_target_csv use millimetres; the default is true. Parameter pose_target_rpy_in_degrees: whether the rx,ry,rz values in pose_target_csv use degrees; the default is false. Parameter pose_reference_frame: the reference frame used for the pose target. Parameter prefer_named_start: this parameter is only used by the RX75 dual-arm launch file to prefer the named start posture. Parameter enable_cartesian_demo: this parameter is only used by the RX75 dual-arm launch file to control whether the Cartesian demo is executed. For the RX75 dual-arm example, planning_group can be set to left_arm or right_arm according to the selected arm side.

rm_moveit2_Package_Architecture_Description

Overview_of_Package_Files

The current rm_moveit2 package is composed of the following files.

``` ├── CMakeLists.txt ├── launch │ ├── moveit_eco63.launch.py # ECO63 launch file │ ├── moveit_rm75.launch.py # RM75 launch file │ └── moveit_rx75.launch.py # RX75 dual-arm launch file ├── package.xml ├── README.md └── src

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