dsr_controller2 + moveit
Feature
- Launch the robot model on Rviz simulator and operated by MoveIt.
- Working by connecting with emulator mode or real robot.
- The emulator mode only works in virtual mode.
Parameter
| Paramater Name | Paramater Name | Default Value | Description |
|---|---|---|---|
host | - | 127.0.0.1 | Robot Controller IP . Emulator : 127.0.0.1 . Real robot controller : 192.168.137.100 |
Port | - | 12345 | port |
mode | - | virtual | Robot operation mode - virtual : virtual mode - real : real mode |
model | - | m1013 | M-Series Robot model . m0609, m0617, m1013, m1509 A-Series Robot model . a0509, a0912 E-Series Robot model . e0509 H-Series Robot model . h2017, h2515 |
color | - | white | Robot color . white or blue |
Example
BASH
<virtual mode>
$ ros2 launch dsr_controller2 dsr_moveit2.launch.py model:=m0609 mode:=virtual
$ ros2 launch dsr_controller2 dsr_moveit2.launch.py model:=m0617
$ ros2 launch dsr_controller2 dsr_moveit2.launch.py model:=m1013 mode:=virtual color:=blue
<real mode>
로봇제어기 IP defalut = 192.168.137.100, port = 12345
$ ros2 launch dsr_controller2 dsr_moveit2.launch.py model:=m1509 host:=192.168.137.100 mode:=real color:=blue
$ ros2 launch dsr_controller2 dsr_moveit2.launch.py model:=a0509 host:=192.168.137.100 mode:=real
The Robot and Motion Planning Interface window are loaded on Rviz(Figure 4.2).
The MotionPlanning allows the robot to run in real environment.
Figure 4.2 Rviz + dsr_controller2