git clone https://github.com/Andy-Leo10/robot_ur3e_setup.git
SIMULATED ROBOT
cd ~/ros2_ws/ ;colcon build --packages-select sim_moveit_config;source install/setup.bash
ros2 launch sim_moveit_config run_moveit.xml
cd ~/ros2_ws/ ;colcon build --packages-select sim_moveit_config;source install/setup.bash
ros2 launch sim_moveit_config move_group.launch.py
cd ~/ros2_ws/ ;source install/setup.bash
ros2 launch sim_moveit_config moveit_rviz.launch.py
REAL ROBOT
cd ~/ros2_ws/ ;colcon build --packages-select real_moveit_config;source install/setup.bash
ros2 launch real_moveit_config run_moveit.xml
cd ~/ros2_ws/ ;colcon build --packages-select real_moveit_config;source install/setup.bash
ros2 launch real_moveit_config move_group.launch.py
cd ~/ros2_ws/ ;source install/setup.bash
ros2 launch real_moveit_config moveit_rviz.launch.py
More info
ros2 launch moveit_setup_assistant setup_assistant.launch.py
Resources
Orientation Constraint (doesn't work):
- https://moveit.picknik.ai/main/doc/how_to_guides/using_ompl_constrained_planning/ompl_constrained_planning.html
- https://docs.picknik.ai/en/4.0.1/how_to/application_how_tos/orientation_constrained_planning/orientation_constrained_planning.html
