This repository contains ROS2-based utility functions and nodes that can be used for ROS2 software development for any robot. This avoids duplication of often repeated code between different robotic specific repositories.
This node can be used to use code-wise Moveit control. For Franka:
ros2 launch rcdt_franka franka.launch.py moveit:=node
By selecting option node for the moveit flag, the moveit_controller node will be started. One can move the robot using an Action call, for example:
ros2 action send_goal --feedback /moveit_controller rcdt_utilities_msgs/action/Moveit "{goal_pose: {header: {frame_id: fr3_link0}, pose: {position: {x: 0.28, y: 0.2, z: 0.5}, orientation: {x: 1.0, y: 0.0, z: 0.0, w: 0.0}}}}"
This project is licensed under the Apache License Version 2.0 - see LICENSE for details.
Please read CODE_OF_CONDUCT, CONTRIBUTING, and PROJECT GOVERNANCE located in the overarching RCDT robotics project repository for details on the process for submitting pull requests to us.