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URDF and MoveIt

Repository to Visualize Fanuc M-710iC/45M robot from URDF file and generate MoveIt configuration

Steps to execute:

mkdir ros2_ws/src
cd ros2_ws
Clone the repo
colcon build
source install/setup.bash

To view the robot in Rviz:

ros2 launch fanuc_m710ic_support view_robot.launch.py

Once Rviz Open, follow the below steps:

  1. Sep Map to base_link in the Global Options
  2. Add Robot Model
  3. Under Robot Model, set description to /robot_description
  4. Then in another terminal, run the below command
ros2 run fanuc_m710ic_support publish_joint_states

To open MoveIt Setup Assistant:

ros2 launch moveit_setup_assistant setup_assistant.launch.py

To launch MoveIt:

ros2 launch fanuc_m710ic_support_moveit_config demo.launch.py

Note: Error occurs while launching demo.launch.py (MoveIt) - Fix needed