cd catkin_ws/src- Clone this repo here :
git clone "https://github.com/YugAjmera/rosarm_pkg" - Move rosarm_moveit_config to src
cd ..(Go back to catkin_ws/)catkin_makesource ./devel/setup.bashsource ~/.bashrc
-
To view the model in RVIZ (using joint_state_publisher gui):
roslaunch rosarm_pkg urdf_rviz_view.launch -
To view the model without controllers in Gazebo :
roslaunch rosarm_pkg urdf_gazebo_view.launch(Note: The links will fall down due to gravity) -
To launch the model with controllers in Gazebo :
roslaunch rosarm_pkg urdf_trajectory_controller.launch -
To control the arm with MoveIt (keep 3 running):
roslaunch rosarm_moveit_config rosarm_planning_execution.launch
-
To display the postion of end effector :
roslaunch rosarm_pkg get_Pose.launch -
To plan a trajectory using specified end point :
roslaunch rosarm_pkg planning.launch