Manipulation with ROS

This section describes how to manipulate Kinova Gen3 with ROS.

Note

You can find the installed ROS packages in the NNUFhr laptop.

Note

If you want ti install the ROS packages, you can find the ROS and ROS2 GitHub links for Kinova Gen3 in the Kinova Gen3 page.

Gazebo Simulation

To launch the Gazebo simulation, you can use the following command:

$ source kinova_ws/devel/setup.bash
$ roslaunch kortex_gazebo spawn_kortex_robot.launch
In RViz, you can visualize the robot by doing the following:

  • Change the Fixed Frame from map to base_link.

  • Add the robot model by clicking on Add and selecting RobotModel.

  • Add the MoveIt! plugin by clicking on Add and selecting MotionPlanning.

Now you can visualize the robot in RViz and Gazebo. You can also control the robot using the MoveIt! plugin.

Full Control

To full control the robot by ROS you can use the following command:

$ source kinova_ws/devel/setup.bash
$ roslaunch kortex_examples full_arm_movement_python.launch

or

$ source kinova_ws/devel/setup.bash
$ roslaunch kortex_examples moveit_example.launch