Projet_integration_ROS

Environment setup

Clone the repo

git clone https://github.com/Bp91230/Projet_integration_ROS.git

Setup environment

cd catkin_ws
. /opt/ros/noetic/setup.bash
catkin build
. devel/setup.bash

Moveit Setup Assistant

roslaunch moveit_setup_assistant setup_assistant.launch

Re-generate URDF from xacro

A version of the URDF is available in the repo from the start (catkin_ws/src/motoman_copy/motoman_hc10_support/urdf/model_hc10.urdf) but if modifications to the xacro files was made, you need to re-generate it. To do that execute the following command in a terminal from the catkin_ws folder.

rosrun xacro xacro src/motoman_copy/motoman_hc10_support/urdf/hc10.xacro -o src/motoman_copy/motoman_hc10_support/urdf/model_hc10.urdf

To generate the graph

urdf_to_graphiz src/motoman_copy/motoman_hc10_support/urdf/model_hc10.urdf

Launch demo in Rviz with MoveIt

roslaunch hc10_moveit_config demo.launch 

Launch demo in Gazebo & Rviz

roslaunch hc10_moveit_config demo_gazebo.launch