MoveIt Commander

기능

Moveit Commander 를 통하여 로봇을 제어합니다.

설치

sudo apt-get insatll ros-kinetic-moveit-commander

예제

BASH

<virtual mode>
$ roslaunch dsr_control dsr_moveit.launch model:=m1013 mode:=virtual

$ ROS_NAMESPACE=/dsr01m1013 rosrun moveit_commander moveit_commander_cmdline.py robot_description:=/dsr01m1013/robot_description

> use arm 
> goal0 = [0 0 0 0 0 0] # save the home position to variable "goal0"
> goal1 = [0 0 1.57 0 1.57 0] # save the target position to varialbe "goal1" / radian
> go goal1 # plan & excute (the robot is going to move target position)
> go goal0 # paln & excute (the robot is going to move home position)

<real mode>
로봇제어기 IP defalut = 192.168.127.100, port = 12345
$ roslaunch dsr_control dsr_moveit.launch model:=a0509 host:=192.168.127.100 mode:=real

$ ROS_NAMESPACE=/dsr01a0509 rosrun moveit_commander moveit_commander_cmdline.py robot_description:=/dsr01a0509/robot_description

> use arm 
> goal0 = [0 0 0 0 0 0] # save the home position to variable "goal0"
> goal1 = [0 0 1.57 0 1.57 0] # save the target position to varialbe "goal1" / radian
> go goal1 # plan & excute (the robot is going to move target position)
> go goal0 # paln & excute (the robot is going to move home position)