![]() Probably some OpenGL/GLSL related issue, I still need to check it out. This thing mostly works but rviz doesnt show any model. I tested you commands and here's what I got:ġ. If you run into any difficulties along the way, feel free to post back here (or on ROS Answers), and someone will try to help. ![]() Once you’ve gotten through step 5, then you mostly have a robot ready to interact with all of the ROS planning tools, and the next steps will be up to your Make sure and FILTER the trajectory.Ĭ) if the trajectory looks good, execute on the real robot Roslaunch myRobot_arm_navigation planning_scene_warehouse_viewer_myRobot_real.launchī) jog the physical robot around, and verify that the rviz model mirrors the physical robot correctly.Ĭ) make sure and test every joint, and check for unusual cases: wrap-around joints, limits, coupled-joints, etc.ĥ) Execute an arm_navigation trajectory on the physical robotī) plan a trajectory in rviz pick something “safe”, like a small motion of joint 6. Rostopic echo joint_states (should match the robot’s joint positions)Ĥ) Verify the arm_navigation environment mirrors the physical robot Roslaunch abb_common robot_interface.launch robot_ip:= The virtual robot should move.ģ) Run the robot interface nodes to verify connectivity with the robot: Roslaunch myRobot_arm_navigation planning_scene_warehouse_viewer_myRobot.launchī) try planning a trajectory and executing it. neg motion) and zero position are correctĢ) Run the planning scene in simulation mode to verify the arm_navigation (or moveit) package is configured correctly Roslaunch urdf_tutorial display.launch model:= gui:=Trueī) move the joint-sliders to verify the robot moves correctlyĬ) especially check that the joint directions (pos vs. Once you have the code installed, I usually check things out in stages:ġ) Interact within rviz to verify the URDF is set up properly: ![]() Installation from either source is described on GoogleCode, but we are in the process of transitioning them to If you prefer, you can install directly from the source repositories. The easiest way to install ROS-Industrial is from the binary debian packages. I think it’s even marked as “deprecated”, and is probably not updated with the latest ROS-Industrial Actually, that repository is a fork of the main repository. ![]()
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