Running the Node

Running the Node

Build

From the workspace root:

colcon build --packages-select cartesian_planner --allow-overriding cartesian_planner
source install/setup.bash

Run

ros2 run cartesian_planner raster_scanner

Expected environment

The node expects:

• TF to be available between eddie_base_link and the end-effector frame
• the arm action server to be available on right_arm/arm_control
• the perception action server to be available on run_perception_pipeline

Parameters

• base_frame
  • default: eddie_base_link
• ee_frame
  • default: eddie_right_arm_robotiq_85_grasp_link
• arm_action_server
  • default: right_arm/arm_control
• perception_action_server
  • default: run_perception_pipeline