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flexiv_bringup

This package contains launch files: the main driver launcher, the MoveIt launch file and demo examples:

  • rizon.launch.py - the main launcher: starts ros2_control node including hardware interface, runs joint states, Flexiv robot states broadcaster, and a controller, and visualizes the current robot pose in RViZ. The default controller is rizon_arm_controller, a joint trajectory controller.
  • rizon_moveit.launch.py - runs MoveIt together with the main driver. The controller for robot joints started in this launch file is rizon_arm_controller.
  • test_joint_trajectory_controller.launch - sends joint trajectory goals to the rizon_arm_controller.

There are also launch files for other robot setups:

  • aico1.launch.py - the main launcher for Flexiv AICO1 robot.
  • aico1_moveit.launch.py - runs MoveIt together with the main driver for Flexiv AICO1 robot.
  • aico2.launch.py - the main launcher for Flexiv AICO2 robot.
  • aico2_moveit.launch.py - runs MoveIt together with the main driver for Flexiv AICO2 robot.
  • rizon_dual.launch.py - the main launcher for Flexiv Rizon dual robot setup.
  • rizon_dual_moveit.launch.py - runs MoveIt together with the main driver for Flexiv Rizon dual robot setup.

NOTE: The example launch files run the demo nodes from the flexiv_test_nodes package, with the parameters defined in /config.