Moving the robot (Moveit2 + Rviz)
In this tutorial we are going to make the real robot move. Follow this tutorial with caution as we will work on the real hardware.
1. Fix the robot to a table
Fix the robot to a table and lie it down as can bee seen from the picture.
It is important to fix the robot at least 1.0 meter away from people and objects.
2. Press the emergency button
Press the emergency button before pluggin in anything to avoid unexpected behaiviors.
3. Connect the Power Source
Connect the cable to the outlet.
4. Connect the USB-C
Connect the USB cable from your machine to the control brick. Remember the 1.0 meter distance.
5. Connect the Robot
Run the Demo
If you haven't already done so from the previous tutorial, clone the tutorial repository:
git clone https://github.com/itacarobotics/ulixarm_tutorial.git
Navigate into the repository:
cd ulixarm_tutorial
Build the packages:
colcon build
Source the environment:
source install/setup.bash
Launch the demo:
Before running the demo, rotate the emergency button to detach it.
ros2 launch exercise_2 demo.launch.py
RViz will open displaying the robot model and a marker to set the goal pose of the robot.