57 lines
1.2 KiB
Markdown
57 lines
1.2 KiB
Markdown
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launching simulator
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```bash
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ros2 launch clearpath_gz simulation.launch.py setup_path:=$HOME/clearpath
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```
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## Using Manipulator
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robot.yaml
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```yaml
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serial_number: a200-0000
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version: 0
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system:
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hosts:
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- hostname: cpr-a200-0000
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ip: 192.168.131.1
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ros2:
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namespace: a200_0000
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platform:
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attachments:
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- name: front_bumper
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type: a200.bumper
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parent: front_bumper_mount
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- name: rear_bumper
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type: a200.bumper
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parent: rear_bumper_mount
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- name: top_plate
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type: a200.top_plate
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manipulators:
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arms:
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- model: kinova_gen3_lite
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parent: top_plate_default_mount
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xyz: [0.0, 0.0, 0.0]
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rpy: [0.0, 0.0, 0.0]
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ip: 192.168.131.40
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port: 10000
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gripper:
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model: kinova_2f_lite
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```
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Launch the simulation
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```
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ros2 launch clearpath_gz simulation.launch.py setup_path:=$HOME/clearpath
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```
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Launch MoveIt! by passing the same robot setup directory and setting the simulation flag.
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```
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ros2 launch clearpath_manipulators moveit.launch.py setup_path:=$HOME/clearpath use_sim_time:=true
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```
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Launch RViz by passing the robot's namespace and enabling the simulation flag.
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```
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ros2 launch clearpath_viz view_moveit.launch.py namespace:=a200_0000 use_sim_time:=True
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```
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