This is a custom MoveIt2 configuration package for the Kinova Gen3 Ultra lightweight robot, a 6DoF arm with vision module and without gripper.
- Install ROS2 following these instructions (Tested with ROS2 Iron)
- Install MoveIt2 following these instructions. I recommended to follow the instructions exactly as I am aware of some problems arising from using the binary install instead.
This installation also includes the necessary Kinova Kortex API and packages. - Creat your own colcon workspace (instructions)
- Clone this package into your workspace/src directory
- Navigate to your workspace directory and run
colcon build - Finally, source your workspace
source ./install/setup.bash
- To launch the robot in simulation, use
ros2 launch gen3_6dof_vision_moveit_config robot.launch.py robot_ip:=yyy.yyy.yyy.yyy use_fake_hardware:=true\ - To use the physical robot, use
ros2 launch gen3_6dof_vision_moveit_config robot.launch.py robot_ip:=192.168.1.10