QB Robotics qbmove Advanced Kit, Руководство пользователя

Страница: 94 / 106

91
28 aprile 2021
In addition to the new controller, all the URDFs of the kinematic configurations that
can be realized with the qbmove Kit and its accessories are equipped with
Interactive
Markers that enable a manual motion of the end-effector directly from rviz .
Also, the stiffness of the joints can be adjusted manually, together with the gripper
position and stiffness.
Figure 6-14: an example of kinematic (arm V1) in rviz with interactive markers.
This feature can be useful especially for beginners to have some practice and become
more confident with these kinematic structures and their operative space. Moreover,
a simple test when inventing a demo application can be done more quickly in this way.
To use this control mode you have to run the command:
roslaunch qb_chain_control < robot_config >_control.launch standal
one:=true activate_on_initialization:=true use_rviz:=true
6.5.4 qb control
If you purchased the qb control module, you can exploit the advantages and easy
control the robot_config described in chapter 5.
To exploit the qb control features, you have to follow these steps:
•
qb control side :
1. power up the module and connect the USB cable to one of the
Raspberry Pi 4 ports;
2. run from terminal the command:
qb_ROS_initialization.sh -a <
robot_config
>