poppy-project / poppy_ergo_jr_moveit_config

MoveIt integration for Poppy Ergo Jr robot in ROS 1

MoveIt integration for Poppy Ergo Jr in ROS 1

This package is meant to be used with the following packages:

• Poppy controllers that run on the robot
• Poppy Ergo Jr description (URDF)

This package has been tested with Melodic and Noetic.

Quickstart

With a simulated robot

Start MoveIt in simulation if you have assembled your robot with the gripper effector:

roslaunch poppy_ergo_jr_moveit_config demo.launch fake_execution:=true gripper:=true

...if you have assembled your robot with the lamp effector:

roslaunch poppy_ergo_jr_moveit_config demo.launch fake_execution:=true lamp:=true

With a real robot

Make sure the Poppy Controllers are running on your robot and then just set fake_execution to false:

roslaunch poppy_ergo_jr_moveit_config demo.launch fake_execution:=false lamp:=true