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Moveit Tutorial
Description: In this tutorial we will explain about our moveit package, and how to work with it.Keywords: ric_moveit,komodo moveit
Tutorial Level: INTERMEDIATE
Getting started
First of all you need to install the moveit itself, installing moveit is easy just open a new terminal and type the following command
$ sudo apt-get install ros-indigo-moveit-full
Launching komodo moveit
NOTE: Right now there only two komodo model which support moveit functionality
- Komodo with arm.
- Komodo with elevator and arm.
Komodo with arm
Launch
To launch the gazebo model of Komodo with arm open a new terminal and type
$ roslaunch komodo_2_moveit_config komodo_gazebo_moveit.launch
Topics that good to know
Topic |
Type |
Message type |
/base_rotation_controller/command |
subscriber: rotate the arm |
Float64 |
/diff_driver/command |
subscriber: drive the robot |
Twist |
/elbow1_controller/command |
subscriber: move the first elbow left and right |
Float64 |
/elbow2_controller/command |
subscriber: move the second elbow up and down |
Float64 |
/shoulder_controller/command |
subscriber: move the shoulder up and down |
Float64 |
/wrist_controller/command |
subscriber: rotate the wrist left and right |
Float64 |
/left_finger_controller/command |
subscriber: move the left finger, left or right |
Float64 |
/scan |
publisher: laser scan |
|
/arm_camera/image_raw/theora |
publisher: arm camera image |
|
/Front_Camera/image_raw/theora |
publisher: front camera |
|
/diff_driver/odometry |
publisher: robot odometry |
Odometry |
