From bc05b65cf87c20ffa02b890d0f23bd39505fd4aa Mon Sep 17 00:00:00 2001 From: Abdurrahman Yilmaz Date: Mon, 25 Nov 2024 14:17:39 +0000 Subject: [PATCH] Launch arguments are updated --- README.md | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 2e4b350..e140427 100644 --- a/README.md +++ b/README.md @@ -82,9 +82,11 @@ colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DFranka_DIR:PATH=/path/to/ 5. Add the build path to your `LD_LIBRARY_PATH`: `LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/path/to/libfranka/build"` 6. To test, source the workspace, and run: ```bash -ros2 launch franka_moveit_config moveit_real_arm_platform.launch.py robot_ip:= camera_type:=blackfly_s serial:="''" load_camera:=True +ros2 launch franka_moveit_config moveit_real_arm_platform.launch.py robot_ip:= camera_type:=blackfly_s serial:="''" load_camera:=True planner:= ``` -Example `robot_ip:=172.16.0.2`, `serial:="'22141921'"` +Example `robot_ip:=172.16.0.2`, `serial:="'22141921'"`, `planner:=pilz_industrial_motion_planner/CommandPlanner` + +If needed to test on fake hardware add `use_fake_hardware:=True` argument to the launch file 7. To control the arm by MoveIt2 for plant scanning, please follow [moveit2_commander_recorder][moveit2_commander_recorder] and [viewpoint_generator][viewpoint_generator] repositories.