sudo apt install ros-kinetic-timed-roslaunch
roslaunch kortex_gazebo spawn_kortex_robot.launch
rosrun moveit_commander moveit_commander_cmdline.py __ns:=my_gen3
> use arm
> go home
> go vertical
roslaunch kortex_driver kortex_driver.launch
To get current joint position in degrees
rosservice call /my_gen3/base/get_measured_joint_angles "input: {}"
To get current cartesian position
rosservice call /my_gen3/base/get_measured_cartesian_position "input: {}"
Connect arm with lan cable (will not work via wifi connection)
roslaunch kinova_arm_apps kinova_arm.launch
roslaunch kinova_arm_apps closest_obj.launch
roslaunch kinova_arm_apps pick_place.launch
rostopic pub /pcl_closest_obj/event_in geometry_msgs/String e_start
Check the output of pick_place.launch
, if it says invalid pose, send e_start
again. And, finally
rostopic pub /pick_and_place/event_in geometry_msgs/String e_start