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Simulation Usage

ros2 launch kortex_bringup gen3_lite.launch.py  robot_ip:=127.0.0.1 use_fake_hardware:=true

Key arguments when launching the Lite arm :

  • robot_ip : IP is ignored in fake mode. For real hardware see next section.
  • use_fake_hardware:=true to enable simulation (default is false ) .
  • Other args like gripper_max_velocity or robot_controller can be left default for basic sim.
  • (Optional) Gazebo simulation. Kinova provides a kortex_sim_control.launch.py that can run all arm models in Gazebo.The given example starts Gazebo (classic) and spawns a Gen3 Lite model (6-DOF) with controllers. If issues arise (e.g. Gazebo mimic joints bug), see Troubleshooting.

For example: ros2 launch kortex_bringup kortex_sim_control.launch.py \ use_sim_time:=true sim_gazebo:=true robot_controller:=joint_trajectory_controller