From 05278f8330f1d6cc5980045958a5300115499d54 Mon Sep 17 00:00:00 2001 From: mhubii Date: Wed, 15 May 2024 11:13:07 +0100 Subject: [PATCH] added moveit doc --- lbr_demos/doc/lbr_demos.rst | 9 ++-- .../doc/img/iiwa7_moveit_rviz.png | Bin 0 -> 77514 bytes lbr_demos/lbr_moveit_py/doc/lbr_moveit_py.rst | 42 ++++++++++++++++++ 3 files changed, 48 insertions(+), 3 deletions(-) create mode 100644 lbr_demos/lbr_moveit_py/doc/img/iiwa7_moveit_rviz.png create mode 100644 lbr_demos/lbr_moveit_py/doc/lbr_moveit_py.rst diff --git a/lbr_demos/doc/lbr_demos.rst b/lbr_demos/doc/lbr_demos.rst index 4c6cfda2..329fd1f0 100644 --- a/lbr_demos/doc/lbr_demos.rst +++ b/lbr_demos/doc/lbr_demos.rst @@ -24,9 +24,12 @@ Advanced lbr_demos_advanced_cpp <../lbr_demos_advanced_cpp/doc/lbr_demos_advanced_cpp.rst> lbr_demos_advanced_py <../lbr_demos_advanced_py/doc/lbr_demos_advanced_py.rst> -MoveIt 2 --------------- -TODO moveit simple action client demos +MoveIt +------- +.. toctree:: + :titlesonly: + + 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z&s39n{m(n(eqh5;$TA-uBnBe{0ke;EU1zxV$sb h588DQ)`_:octicon:`link-external` + #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml `_:octicon:`link-external` + +#. Remote side configurations: + + #. .. dropdown:: Launch the ``LBRServer`` application on the ``KUKA smartPAD`` + + .. thumbnail:: ../../doc/img/applications_lbr_server.png + + #. Select + + - ``FRI send period``: ``10 ms`` + - ``IP address``: ``your configuration`` + - ``FRI control mode``: ``POSITION_CONTROL`` or ``JOINT_IMPEDANCE_CONTROL`` + - ``FRI client command mode``: ``POSITION`` + +#. Run the robot driver: + + .. code-block:: bash + + ros2 launch lbr_bringup bringup.launch.py \ + moveit:=true \ + sim:=false \ + model:=iiwa7 # [iiwa7, iiwa14, med7, med14] + +#. You can now move the robot via MoveIt in RViZ!