ROS 2 Controllers
ROS 2 Controllers is mainly used to generate the ros2_controllers.yaml file, which sets the release frequency, joint name, controller name, controller type, etc.
Configure ROS 2 Controllers, configure controllers for each planning group, click Auto Add JointTrajectoryController Controllers For Each Planning Group.
Moveit Controllers
Moveit Controllers is mainly used to generate the moveit_controllers file, which sets the controller name, controller type, etc. It should be noted that the controller name in moveit_controllers needs to be the same as that of ros2_controllers, or it will not run smoothly. It should be noted that the controller name in moveit_controllers should be the same as the controller name in ros2_controllers, otherwise it will not run smoothly.
When the controller name in moveit_controllers is the same as the controller name in ros2_controllers, the controller type in moveit_controllers will be automatically mapped to the controller type in ros2_controllers, realizing that the control data sent down through the moveit_controllers is sent to ros2_controllers, and then the actual robot motion is driven by the plug-in in ros2_controllers.
Launch Files
Configure Launch Files, just use the default configuration.
Author Information
Generate Launch File
Generate the Launch file, select the location, this time in the test_fa_ws/src file path to create a folder fairino5_v6_robot_moveit_config used to store the configuration file, and then select the Generate.
As this has been configured once before, if the initial configuration Check files you want to be generated part of the contents of the black, indicating that you can generate Launch files.
2.2.3. Launch
After the configuration is complete, you can compile the functionality packages, you can use the custom robot moveit2 configuration package to replace the FAIRINO Robot moveit2 configuration package, to achieve plug-in compatibility for the use of user-defined robots.
colcon build --packages-select fairino5_v6_robot_moveit_config
source install/setup.bash
Then just run the Launch file you just configured.
ros2 launch fairino5_v6_robot_moveit_config demo.launch.py
After that you can see the rviz2 interface with the configuration completed.
2.2.4. Moveit2 Usage
After opening the configured package, you can set the robot target position by dragging and dropping the blue sphere at the end of the robot in the 3D interface on the right side, and then change the robot end attitude by using the red, green, and blue rings at the end of the robot.
Click on the Plan button on the left to plan the robot trajectory.
Click the Execute button on the left to drive the robot to the target position according to the planned trajectory.
Plan&Execute buttons are used to automatically control the robot’s motion after planning a trajectory.
Then click on the Joints tab to change the robot’s target position by changing the angles of the joints, and then use the Plan, Execute, Plan&Execute buttons to drive the robot.
