iiwa_manipulator

IIWA Manipulator

Overview

Both iiwa_manipulator and iiwa_manipulator.py enable RViz visualization of a static ManipulationStation example. They publish the following topics:

• /tf (all scene frames)
• /scene_markers (all scene geometries, including the robot model)

How To

First, run RViz:

# Using Colcon/CMake
ros2 run rviz2 rviz2 -d $(ros2 pkg prefix drake_ros_examples)/share/drake_ros_examples/iiwa_manipulator.rviz

# Using bazel
bazel run @ros2//:rviz2 -- -d `pwd`/examples/iiwa_manipulator/iiwa_manipulator.rviz

In a separate terminal, run either the C++ or Python executable:

# Using Colcon/CMake
# C++
ros2 run drake_ros_examples iiwa_manipulator
# Python
ros2 run drake_ros_examples iiwa_manipulator.py

# Using bazel
# C++
bazel run //examples/iiwa_manipulator:iiwa_manipulator
# Python
bazel run //examples/iiwa_manipulator:iiwa_manipulator_py

Or

# Using ROS 2 Launch (C++)
ros2 launch drake_ros_examples iiwa_manipulator_cc_launch.py
# or (Python)
ros2 launch drake_ros_examples iiwa_manipulator_py_launch.py

You should see the manipulation station with simple sinusoidal motion.

Note*: If you restart the simulation but not RViz, you should click RViz's "Reset" button so that TF does not get tripped up on stale data.

Note: All terminals should have their environment setup appropriately. See drake_ros_examples for an example of how to do so.