nisshan-x / mycobot_moveit Goto Github PK

Currently learning ROS. A blue BOX has been added to the Moveit planning scene. The path displayed by Moveit draws a trajectory that avoids the blue box as shown in the image (Image 1.2), but the actual machine does not move on such a trajectory, but in the horizontal direction where it collides with the box. Move. .. (Image 3)

When MOVE IT was performed using the official elephantrobotics repository, the planned route of MOVE IT and the planned route of the actual machine matched when avoiding a collision.

Do you know the cause of this?

Image 1

Image 2

Image 3

I created mycobot_moveit_gazebo.launch to launch Gazebo to run virtual myCobot, but it doesn't work. It happens that TF is broken, but I'm not sure how to fix the issue.

I need help!

Thanks.

I am a ROS beginner.

I am trying to connect mycobot to ROS, but when I try [roslaunch mycobot_moveit mycobot_moveit_control.launch],
the notation error occurs and the actual robot does not work.

My environment is as follows.

ubuntu20.04
noetic
mycobot
AtomMain2.4

Do you know how to resolve this error?

thank you

Thank you for your project.
For my myCobot, it was proper to change joints(1,2,3,4,5 and 6) to -1 on same axis in mycobot_urdf_gazebo.urdf.
Not sure it depends on each robot.