Moveit2_study

moveit2_example

movit2 simple example code from Moveit2 tutorial

franka_move2target

example code to control franka research 3 robot to desired pose in rviz2

Franka_Sigma_ws

Example code to control franka research 3 robot through haptic device sigma.7

Move the Franka hardware to desired pose

Step 1: ros2 launch franka_moveit_config franka_moveit.launch.py robot_ip:=172.16.0.2 use_fake_hardware:=false

It will turn on the Rviz2, go to "Panels->add new panel->RvizVisualToolsGUI->ok" to add visual tool

Step 2: ros2 run franka_moveit_my hello_moveit

Follow target

Franka hardware subscribe target pose that published by another node and follow the target.

Steps:

1. Launch franka hardware

   ros2 launch franka_moveit_config franka_moveit.launch.py robot_ip:=172.16.0.2 use_fake_hardware:=false
   

2. Listener

   ros2 run franka_moveit_my follow_target 
   

3. Pubisher

   ros2 run franka_moveit_my franka_target_pub 
   

Franka Hardware Follow Sigma7 Haptic Device

This is an example to control FR3 arm hardware by sigma.7 haptic device .