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Kortex Examples

  1. Before running an example
  2. Actuator configuration examples
  3. Full arm movement examples
  4. Vision module configuration examples
  5. MoveIt! examples

Before running an example

Before you run any example, make sure :

  • You have already built the packages using catkin_make.
  • You are physically connected to an arm (or you are connected over Wi-Fi).
  • You have started the kortex_driver node by following the instructions.
  • The node started correctly and without errors.

Actuator configuration examples

Examples to show how to use actuator_config ROS services to configure a given actuator.

The examples look for advertised services in the my_gen3 namespace by default and configures the first actuator.

To run the C++ example: rosrun kortex_examples example_actuator_configuration_cpp

To run the Python example: rosrun kortex_examples example_actuator_configuration.py

If you started the kortex_driver node in another namespace (not my_gen3) or if you want to test the example on another actuator than the first one, you will have to supply node parameters in the command line (the syntax doesn't change if you run the C++ or Python example):

rosrun kortex_examples example_actuator_configuration_cpp _robot_name:=<your_robot_name> _device_id:=<your_device_id>

Full arm examples

Examples to show how to use the base ROS services to move and configure the arm.

The examples look for advertised services in the my_gen3 namespace by default.

  • Simple movement example:

    • To run the C++ example: rosrun kortex_examples example_full_arm_movement_cpp
    • To run the Python example: rosrun kortex_examples example_full_arm_movement.py

    If you started the kortex_driver node in another namespace (not my_gen3), you will have to supply the node a parameter in the command line (the syntax doesn't change if you run the C++ or Python example) :

    rosrun kortex_examples example_full_arm_movement_cpp _robot_name:=<your_robot_name>

  • Cartesian poses with notifications:

    • To run the C++ example: rosrun kortex_examples example_cartesian_poses_with_notifications_cpp
    • To run the Python example: rosrun kortex_examples example_cartesian_poses_with_notifications.py

    If you started the kortex_driver node in another namespace (not my_gen3), you will have to supply the node a parameter in the command line (the syntax doesn't change if you run the C++ or Python example) :

    rosrun kortex_examples example_cartesian_poses_with_notifications_cpp _robot_name:=<your_robot_name>

Vision module configuration examples

Examples to show how to use the vision_config ROS services to configure the vision module.

The examples look for advertised services in the my_gen3 namespace by default.

To run the C++ example: rosrun kortex_examples example_vision_configuration_cpp

To run the Python example: rosrun kortex_examples example_vision_configuration.py

If you started the kortex_driver node in another namespace (not my_gen3), you will have to supply the node a parameter in the command line (the syntax doesn't change if you run the C++ or Python example) :

rosrun kortex_examples example_vision_configuration_cpp _robot_name:=<your_robot_name>

MoveIt! example

Example to show how to use the Python MoveIt! API to move the arm.

The example looks for advertised services and topics in the my_gen3 namespace by default.

To run the example: roslaunch kortex_examples moveit_example.launch

If you started the kortex_driver node in a non-default namespace (not my_gen3), you will have to supply the node your own namespace in the command line :

roslaunch kortex_examples moveit_example.launch robot_name:=<your_own_namespace>