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Interbotix Tutorials XSeries Arms MoveIt2 Configuration for ROS 2
>> YOUR LINK HERE: ___ http://youtube.com/watch?v=f1P423PDRYw
Get an in-depth look at the interbotix_xsarm_moveit ROS 2 package. This package contains configuration and launch files to start up the MoveIt2 Motion Planning program for the Interbotix X-Series Arms. This package can be used with real, fake, or Gazebo-simulated hardware. • Learning Outcomes • Know the contents of the xsarm_moveit package • Know how to use the xsarm_moveit package to do motion planning and execution for the Interbotix X-Series Arm on real, fake, and Gazebo-simulated hardware • Package Documentation: • https://www.trossenrobotics.com/docs/... • Package Source: • https://github.com/Interbotix/interbo... • Learn More About Trossen Robotics: https://linktr.ee/interbotix • 0:00 Intro • 0:44 Controller Configuration • 1:12 srdf (semantic robot description format) • 2:49 Joint Limit Files • 3:04 Chomp Planning Configuration • 3:09 Kinematics Configuration • 3:24 Modes Configuration • 4:01 Launch File • 5:16 Launch Tree Structure • 6:46 Launching with Moveit2 • 8:23 Launching with Gazebo • 9:58 Launching Fake Hardware • 10:33 Conclusion
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