Installation

Clone this package into your ROS workspace:

cd ~/dev_ws/src
git clone [email protected]:iqr-lab/xarm_py_utils.git

Build your workspace:

cd ~/dev_ws
colcon build

Source your workspace:

source ~/.bashrc

Running a policy with moveit_servo

Launch Gazebo and RViz:

ros2 launch xarm_planner xarm7_planner_gazebo.launch.py add_gripper:=true

In another terminal, launch the servo controller (based on the xarm_moveit_servo package):

cd ~/dev_ws/src/xarm_py_utils/launch
ros2 launch servo.launch.py

The servo controller listens for commands on the /servo_server/delta_twist_cmds rostopic. We'll now publish to that topic based on the output of our policy. In yet another terminal, launch the policy node:

cd ~/dev_ws/src/xarm_py_utils/xarm_py_utils
ros2 run xarm_py_utils policy

You should see the robot move! This sample policy (defined in xarm_py_utils/policy.py) moves the robot's gripper in a box-like shape. If you don't see the robot moving, it may be in/near a singularity pose. Check the servo controller's terminal for a message like this:

Moving closer to a singularity, decelerating

If you see this message, try:

• Quitting the policy node
• Using RViz to control the robot arm to a new configuration
• Restarting the policy node