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Running on Hardware

Use this setup to control the real OpenBot Giraffe arm using MoveIt 2.

Step 1: Power and Connect the Arm​

Ensure the robotic arm is powered and connected to your machine via USB.

Step 2: Launch the Real Hardware Interface​

ros2 launch giraffe_description moveit_interface.launch.py

This launch file configures and launches the giraffe robot hardware, MoveIt! 2, and a hardware interface for motion control. Key features:

  1. MoveIt! 2 Motion Planning:
    • Loads MoveIt! 2 configurations (SRDF, kinematics, and OMPL planning).
    • Starts the move_group node for motion planning and trajectory execution.
  2. RViz Visualization:
    • Displays the robot's state and motion planning visualization using a pre-configured RViz setup.
  3. Hardware Interface:
    • Includes a node for the giraffe robot's hardware interface for integration with controllers.

Make sure all servos are configured and calibrated before executing any real motion plans.