ROS2:

RM-Moveit2 Control Example Package Overview

rm_moveit2 is the MoveIt2 control example package for Realman robotic arms, currently providing launch entries for ECO63, RM75, and RX75 dual-arm motion planning examples.

This overview introduces the package from two aspects:

• 1. Package Usage: Learn how to use this package.
• 2. Package Architecture: Understand the file structure and functionalities of the package.

1. Using rm_moveit2

1.1 Basic Package Usage

Before running rm_moveit2, you need to start the corresponding rm_driver, rm_description, rm_control, and MoveIt configuration package nodes.

Note

• For ECO63 and RM75, you can start the MoveIt environment using the corresponding rm_*_config package;
• For RX75 dual-arm, use the dedicated rm_rx75_config package.

• Command to launch the ECO63 example:

  ros2 launch rm_moveit2 moveit_eco63.launch.py

• Command to launch the RM75 example:

  ros2 launch rm_moveit2 moveit_rm75.launch.py

• Command to launch the RX75 dual-arm example:

  ros2 launch rm_moveit2 moveit_rx75.launch.py

  Note

  Before launching the RX75 dual-arm example, start the corresponding MoveIt environment using:

  ros2 launch rm_rx75_config demo_6fb_v.launch.py

1.2 Advanced Package Usage

Common parameters for rm_moveit2 are configured in the launch files.

Parameter	Description
planning_group	MoveIt planning group. - Default for ECO63 and RM75: rm_group; - Default for RX75: right_arm (can be set to left_arm or right_arm depending on the chosen arm).
current_state_wait_sec	Waiting time for reading the current state.
velocity_scaling	Motion velocity scaling factor.
acceleration_scaling	Motion acceleration scaling factor.
planning_time	MoveIt planning time.
home_named_target	Named target used for moving to the home pose.
enable_pose_target	Whether to directly plan to the pose target given by pose_target_csv.
pose_target_csv	Pose target in x, y, z, rx, ry, rz format.
pose_reference_frame	Reference frame used for the pose target.
prefer_named_start	Only used in RX75 dual-arm launch files, controls whether to prefer the named start pose configured in SRDF/MoveIt.
enable_cartesian_demo	Only used in RX75 dual-arm launch files, controls whether to execute the Cartesian demo.

2. rm_moveit2 Package Architecture

2.1 Package File Overview

The current rm_moveit2 package consists of the following files:

├── CMakeLists.txt
├── launch
│ ├── moveit_eco63.launch.py   # ECO63 launch file
│ ├── moveit_rm75.launch.py    # RM75 launch file
│ └── moveit_rx75.launch.py    # RX75 dual-arm launch file
├── package.xml
├── README.md
└── src
 ├── linear_motion_node.cpp    # MoveIt motion helper file
 └── simple_moveit_node.cpp    # Main node file