frcobot_ros

• 1. Overview

• 2. Install

  • 2.1. Environmental requirements

  • 2.2. ROS installation & requirements

  • 2.3. Compile

• 3. Quick start

  • 3.1. frcobot_hw

frcobot_ros2

• 1. Introduction

• 2. fairino_hardware

  • 2.1. Basic Environment Installation

  • 2.2. Compile and build fairino_hardware

• 3. Quick start

  • 3.1. Starting the process

  • 3.2. View the manipulator state feedback process

  • 3.3. Process for issuing instructions

  • 3.4. Modifying the parameter flow

• 4. API Description

moveIt2

• 1. Plug-in Introduction

• 2. Rapid Access

  • 2.1. MoveIt2 Installation

    • 2.1.1. Clone Fairino MoveIt2 Plugin

    • 2.1.2. Compile Feature Packs

  • 2.2. Configuring the Moveit2 model of the Fairino robotic arm

    • 2.2.1. Creating A Workspace

    • 2.2.2. Configuration Robot

      • Launching the configuration interface

      • Configuring Self-Collisions

      • Configuring Virtual Joints

      • Configuring Planning Groups

      • Configuring Robot Poses

      • Configuring End Effectors

      • ros2_control URDF Modifications

      • ROS 2 Controllers

      • Moveit Controllers

      • Launch Files

      • Author Information

      • Generate Launch File

    • 2.2.3. Launch

    • 2.2.4. Moveit2 Usage

  • 2.3. Fairino_hardware Plugin (custom robot moveit configuration package)

    • 2.3.1. Fairino_hardware Plugin Compilation

    • 2.3.2. Fairino_hardware Plugin Usage

    • 2.3.3. Running Plug-ins

    • 2.3.4. Running Result

  • 2.4. Fairino_hardware Plugin (official robot moveit configuration package)

• 3. MTC Sample Code Package

  • 3.1. MTC Sample Code Package Introduction

  • 3.2. MTC Sample Code Package Compilation

    • 3.2.1. MTC Sample Code Package Cloning

    • 3.2.2. Robot Model Selection

    • 3.2.3. MTC Sample Code Package Compilation

      • Compiling the fairino_description function package

      • Compile robot function packs

      • Compile fairino_mtc_demo function package

  • 3.3. The MTC Sample Code Package Runs

    • 3.3.1. Rviz2 Interface

    • 3.3.2. Robot Motion

• 4. Caveat

  • 4.1. Fairino_hardware Plugin Version Synchronization

  • 4.2. Problems Likely To Be Encountered

    • 4.2.1. The robot model may not be loaded on the right side of the Configure Robot Feature Pack.

    • 4.2.2. After generating the package, there is an error running it.

• 5. Summarize