| ... | ... | @@ -68,3 +68,22 @@ The WidowX 250 offers 5 degree of freedom and a full 360 degree of rotation. The |
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## Getting started with ROS
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+ Launch ros server
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```
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> roscore
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```
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+ with simulated robot, launch moveit node
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```
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> roslaunch interbotix_moveit interbotix_moveit.launch robot_name:=wx250 use_fake:=true
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```
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+ with real robot, launch moveit node
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```
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> roslaunch interbotix_moveit interbotix_moveit.launch robot_name:=wx250 use_actual:=true dof:=5
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```
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+ Change arm position with moveit interface
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```
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Goal State -> random valid position
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plan & execute
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```
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<img src="./images/widowx250-1.png" width="400" height="250"> <img src="./images/widowx250-2.png" width="400" height="250"> |
