6-Moveit.md

Moveit

Robot - Linux computer Moveit packages

Moveit comands

C++

Simulate it first:

roslaunch interbotix_xsarm_moveit_interface xsarm_moveit_interface.launch robot_model:=wx250s use_fake:=true dof:=6 use_cpp_interface:=true

Move real robot:

roslaunch interbotix_xsarm_moveit_interface xsarm_moveit_interface.launch robot_model:=wx250s dof:=6 use_cpp_interface:=true use_actual:=true

Each button in the gui interface is a ros node that send message to actual node (move group API) [see it here in github: interbotix_ros_toolboxes/interbotics_common_toolbox/interbotics_moveit_interface/src → moveit_interface_obj.cpp]

Buttons explenation:

• Plan Pose

  Set end-effector cordinates&orientation → es:

  

• Plan Position:

  Reach what ever position regardless the orientation (orientation arbitary)

• Plan Orientation:

  Reach what ever orientation regardless the position (position arbitary)

• Execute:

  Execute movment

• Reset:

  Go back to 0

Python

roslaunch interbotix_xsarm_moveit_interface xsarm_moveit_interface.launch robot_model:=wx250s use_fake:=true dof:=6 use_python_interface:=true

Python script running. find it here: [github: interbotix_ros_toolboxes/interbotics_common_toolbox/interbotics_moveit_interface/scripts/moveit_python_interface]

1. press enter in the terminal → start tutorial
2. press enter to continue the demo

Robot+Raspberry Pi - Personal Computer Moveit packages

Moveit comands

Still not working... comming soon