Run MoveIt2:

cd moveit2
colcon build
source install/local_setup.bash
ros2 launch hc10dt_moveit_config demo.launch.py 
# V demo.launch.py mors spremenit package name ko gres iz simulacije na robota in obratno

# za robota
ros2 launch hc10dt_moveit_config demo.launch.py 

# simulacija
ros2 launch hc10_movit2v3 demo.launch.py

MicroROS Agent run comand

cd micro_ros_agent_ws/
source $HOME/micro_ros_agent_ws/install/local_setup.bash
ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888

To activate remote mode

Ključ nujno v PLAY mode !!! Nujno zazeni prek tega ker drugace ne dela. Ne mors nastavt tega prek robota

cd micro_ros_agent_ws
source install/local_setup.bash
ros2 service call /start_traj_mode motoros2_interfaces/srv/StartTrajMode 

Launch script for moving the robot

cd moveit2
colcon build
source install/local_setup.bash
ros2 run hello_moveit ptp_move_node

#linear move on path
ros2 run hello_moveit hello_moveit_node

#want to be linear moves but are not ???
ros2 run hello_moveit linear_move_node

Launch MoveIt2 Task Contructer

Run it in a seperate terminal The path planer should show TPC folows a 200x200mm square u can execute the movemnt witch gear button in upper right corner

cd moveit2
colcon build
source install/local_setup.bash
ros2 launch mtc_tutorial pick_place_demo.launch.py

used with panda for testing

ros2 launch moveit_task_constructor_demo demo.launch.py

cd ws_moveit2
colcon build
source install/local_setup.bash
ros2 launch moveit2_tutorials mtc_demo.launch.py

TODO:

-naredi neko spremenljivko v ptp_move k ti doloc velikost kvadrata. mogoce lah dam vec razlicnih velikosti 20x20/40x40/60x60 -naredi spremeljviko za start kr direkt v moveit lah nastavs start1 start2 start3 in pol lah startas od lin premike od tm kjer hocs ce so ksne razlike mogoce ? -v ptp mors nastavt start direkt v kodi tko da lah jih spremenis v ene 3 razlicne tocke

-poglej tf transorme v urdf filu zato da mas ista imena kot robot!!!

To get tf frame type this comand in another terminal

ros2 run tf2_tools view_frames

ros2 run moveit_task_constructor_demo cartesian

• If the planing with hello_moveit dost work delite all _planning files from config folder

• if you have problems with srdf in hello_moveit delite
  # moveit_config.robot_description, # moveit_config.robot_description_semantic, in rviz-node

• If you have problem with tf use this to see what is going on:

ros2 run tf2_tools view_frames