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, use the following command to launch the corresponding MoveIt environment.

rm@rm-desktop:~$ ros2 launch rm_rx75_config demo_6fb_v.launch.py

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_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
    ├── linear_motion_node.cpp              # MoveIt motion helper file
    └── simple_moveit_node.cpp              # main node file