| ... | ... | @@ -49,4 +49,6 @@ JS program is used to stream robot position to the computer. ROS program is used |
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Put the JS program to the first slot using keys Function + EXE on teach-pendant during visiting the "File/Edit" screen. Run program located in the first slot using the "Start" button located on the controller. To verify that joint positions are transmitted successfully, put mitsubishi_controller package into your ROS workspace, complie and run: "rosrun mitsubishi_controller mitsubishi_joint_state". You should see "Connected to 192.168.0.20:10004" in your terminal. Furthermore, on topic "/jointstate" you should see the current position of the robot in joint coordinates in radians ("rostopic echo /joint_states").
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### PC settings |
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### PC settings
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Too start interface to MoveIt! you should launch the file mitsubishi_controller/start_controller.launch. It will start the joint streamer as well as listener for joint trajectory action interface. The example how to use the controller together with MoveIt! is in the configuration files in packages: "mitsubishi_launch, mitsubishi_moveit_config, mitsubishi_description". Note, that virtual_robot package can be used for the virtual robot testing - it provides the same interface as required by MoveIt! so it's implementation is more like real robot (in comparison to demo.launch generated by MoveIt!). |
