MoveIt2 Configuration for AR3 Robot Arm

AR3 MoveIt2 Demo

In this demo configuration, the AR3 will be launched using ros2_control's fake_components/GenericSystem joint loopback simulation. Then, MoveIt2 will be launched to plan trajectories and send them to the simulated AR3.

1. Launch the AR3 simulation

    ros2 launch ar3_bringup ar3_base.launch.py use_fake_hardware:=True
   

2. Start MoveIt2

    ros2 launch ar3_moveit2_config moveit.launch.py
   

3. In the RVIZ MotionPlanning panel, change the Goal state to "shutdown" and click on "Plan & Execute".