| ... | @@ -67,4 +67,4 @@ After verification is done, put the MAIN program to the first slot. |
... | @@ -67,4 +67,4 @@ After verification is done, put the MAIN program to the first slot. |
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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!). |
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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!). To run our Melfa RV-6SDL robot use "roslaunch mitsubishi_launch real_robot.launch" or "roslaunch mitsubishi_launch virtual_robot.launch", for real robot or simulation respectively. |
