MoveIt2 Control of a Real Robot (Experimental)

Receive trajectory messages ( follow_joint_trajectory ) from MoveIt 2 and convert them into an offline trajectory file (CSV) executable by the Agilebot robot, enabling robot collision checking and trajectory planning. Please refer to the Trajectory File Format for the required CSV layout.

Note:

1. This feature is still in the experimental stage and may cause arm vibration or impact. Please use it with caution.

2. The robot must be set to AUTO mode; otherwise, execution will fail. You can switch to AUTO mode by turning the key switch on the pendant to the AUTO position.

3. Please ensure the robot software version is >= 7.6.7.0; otherwise, this feature will not be available.

4. robot_type defaults to "C5A" . Optional values: C7A , C12A , C16A .

Operating Instructions

Configure the Robot IP

In gbt_driver/config/robot_config.yaml , set the robot_ip_address field to the robot’s real IP address. The default is 10.27.1.254 .

Terminal

source install/setup.bash
ros2 launch gbt_driver gbt_action_server.launch.py robot_type:=<robot_type>   interpolate_mode:=quintic

Options: quintic or spline, default is quintic. quintic is a quintic polynomial interpolation method, and spline is a quintic B-spline interpolation method.