Package Initialization

Cloning

Once the package is cloned please enter the artefacts_interbotix_moveit2 repository and run the following command

git submodule update --init --recursive

Before Calling Launch files

Before launching any files please ensure that the following commands have been run in the terminal

source /opt/ros/humble/setup.bash
colcon build
source install/setup.bash
source /usr/share/gazebo/setup.bash

Running Launchfiles

Gazebo with Moveit (Real)

ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=wx200 use_gazebo:=true hardware_type:=actual

Gazebo with Moveit (No Objects)

ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=wx200 use_gazebo:=true hardware_type:=gz_classic

Gazebo with Moveit (Square Block)

ros2 launch interbotix_xsarm_moveit xsarm_moveit.launch.py robot_model:=wx200 use_gazebo:=true hardware_type:=gz_classic world_filepath:=/home/decarabas/artefacts_interbotix_movit2/src/artefacts_demo_control/world/artefacts_demo_world.sdf

Please not that when running the command the world_filepath has to be replaced with the relative path on your machine to the world

Running Nodes

Full Pick and Place

ros2 run artefacts_demo_control artefacts_control

Calling Joints

ros2 run artefacts_demo_control ex_joint_goal

Calling Gripper

ros2 run artefacts_demo_control ex_gripper_command