Gen3 + Vision MoveIt Configuration Package

This is a custom MoveIt2 configuration package for the Kinova Gen3 Ultra lightweight robot, a 6DoF arm with vision module and without gripper.

Prerequisites

• Install ROS2 following these instructions (Tested with ROS2 Iron)
• Install MoveIt2 following these instructions. I recommended to follow the instructions exactly as I am aware of some problems arising from using the binary install instead.
  This installation also includes the necessary Kinova Kortex API and packages.
• Creat your own colcon workspace (instructions)
• Clone this package into your workspace/src directory
• Navigate to your workspace directory and run colcon build
• Finally, source your workspace source ./install/setup.bash

Usage

• To launch the robot in simulation, use ros2 launch gen3_6dof_vision_moveit_config robot.launch.py robot_ip:=yyy.yyy.yyy.yyy use_fake_hardware:=true\
• To use the physical robot, use ros2 launch gen3_6dof_vision_moveit_config robot.launch.py robot_ip:=192.168.1.10