Real Arm

First of all connect to the arm via the Ethernet port. For more information see Connect to a PC.

Now, follow the steps below:

  1. Check the Gripper Connection

    • Menu -> Configuration -> Robot -> Product -> End Effector Type Not Installed

  2. Move to the Home position

    • Menu -> Operation -> Actions, Move to Zero position

  3. In Terminal run the following command to start the ROS driver:

    $ roslaunch kortex_driver kortex_driver.launch

Rviz will open. Do steps 4 and 5 in the Rviz window.

4. In Rviz, click on Add -> MotionPlanning, a model of the arm with the current position will appear with the MoveIt interface on the left side.

5. Under option in the Motion planning, Planning tab, reduce the Velocity and Acceleration scales. See the image Motion Planning Settings for more details.

Motion Planning Settings

Fig. 8 Motion Planning Settings

Now you can move the Rviz model.

  1. Use Plan/Plan & Execute feature to move the arm.

  2. In the second terminal run the following command to run the vision node:

    $ roslaunch kinova_vision kinova_vision.launch

Now you can use RGBD data, and a 3D point cloud from the camera.

  1. [Optional] Access to aligned coloured point cloud data:

    $ roslaunch kinova_vision kinova_vision_rgbd.launch
  2. In Rviz:

    • Add -> By topic -> /depth_registered -> /points -> PointCloud2