RoArm-M3 Moveit MTC Demonstration

RoArm-M3 RoArm-M3-S Robotic Arm TTL Serial Bus Servo Control Interface / I2C / UART

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Onboard Interfaces UART I2C TTL bus servo interface

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7. Moveit MTC Demonstration

In this chapter, you will learn how to use MoveIt2 for MTC planning.

Keep the terminal window of the roarm_river robotic arm drive node running, open a new terminal and enter the container, run the Launch file for MTC demonstration. This demo relies on Moveit2 for MTC planning:

cd /home/ws/roarm_ws/
ros2 launch roarm_moveit_mtc_demo demo.launch.py

Note: After executing this command, the robotic arm will rotate (the upper arm extends straight ahead, parallel to the horizontal plane), please do not place fragile items around the robotic arm and keep away from children.

7.1 Cartesian Demonstration

Open the third terminal to enter the container, then enter the workspace of the robotic arm ROS2, and start the Moveit MTC demonstration:

cd /home/ws/roarm_ws/
ros2 launch roarm_moveit_mtc_demo run.launch.py exe:=cartesian

Select the corresponding full path and click the "Exec" button to execute the Demo.

7.2 Cartesian Model Demonstration

Press Ctrl+C to end the previous Moveit MTC demonstration process, and then start the current Moveit MTC demonstration:

cd /home/ws/roarm_ws/
ros2 launch roarm_moveit_mtc_demo run.launch.py exe:=cartesian_modular

Select the corresponding full path and click the "Exec" button to execute the Demo.

7.3 Pick Place Demonstration

Press Ctrl+C to end the previous Moveit MTC demonstration process, and then start the current Pick Place demonstration:

cd /home/ws/roarm_ws/
ros2 launch roarm_moveit_mtc_demo run.launch.py exe:=pick_place

Select the corresponding full path and click the "Exec" button to execute the Demo.