frcobot_ros

• 1. Overview
• 2. Install
  • 2.1. Environmental requirements
  • 2.2. ROS installation & requirements
  • 2.3. Compile
• 3. Quick start
  • 3.1. frcobot_hw

frcobot_ros2

• 1. Introduction
• 2. fairino_hardware
  • 2.1. Basic Environment Installation
  • 2.2. Compile and build fairino_hardware
• 3. Quick start
  • 3.1. Starting the process
  • 3.2. View the manipulator state feedback process
  • 3.3. Process for issuing instructions
  • 3.4. Modifying the parameter flow
• 4. API Description

moveIt2

• 1. Plug-in Introduction
• 2. Rapid Access
  • 2.1. MoveIt2 Installation
    • 2.1.1. Clone Fairino MoveIt2 Plugin
    • 2.1.2. Compile Feature Packs
  • 2.2. Configuring the Moveit2 model of the Fairino robotic arm
    • 2.2.1. Creating A Workspace
    • 2.2.2. Configuration Robot
      • Launching the configuration interface
      • Configuring Self-Collisions
      • Configuring Virtual Joints
      • Configuring Planning Groups
      • Configuring Robot Poses
      • Configuring End Effectors
      • ros2_control URDF Modifications
      • ROS 2 Controllers
      • Moveit Controllers
      • Launch Files
      • Author Information
      • Generate Launch File
    • 2.2.3. Launch
    • 2.2.4. Moveit2 Usage
• 3. Gazebo Simulation Environment Mass-Production Robot Adaptation Function Package
  • 3.1. Introduction
    • 3.1.1. Supported Robot Models (11 Function Packages)
    • 3.1.2. Core Features
  • 3.2. Environment Requirements
    • 3.2.1. Operating System
    • 3.2.2. Software Dependencies
  • 3.3. Function Package Installation and Compilation Steps
    • 3.3.1. Preparatory Step: Confirm ros2_control Workspace
    • 3.3.2. Cloning the Repository
    • 3.3.3. Compiling the Workspace
    • 3.3.4. Verifying the Compilation Result
  • 3.4. Usage Instructions
    • 3.4.1. Starting the Simulation (Using FR5 as an Example)
    • 3.4.2. All Models Launch Command Reference
    • 3.4.3. Manual Control (Sending Target Joints)
    • 3.4.4. Running the Demo Scripts
    • 3.4.5. Monitoring Joint States
  • 3.5. Frequently Asked Questions
    • 3.5.1. Port Conflict / Gazebo Won’t Open on Launch
    • 3.5.2. Stuck at “Waiting for controller_manager…” for over 2 minutes
    • 3.5.3. Robot Does Not Move When Sending Commands Manually
    • 3.5.4. Error: joint_trajectory_controller/gazebo_ros2_control plugin not found
    • 3.5.5. Missing Components / Incomplete Joints After Loading the Robot
    • 3.5.6. Can Two Models Be Launched Simultaneously?
• 4. Fairino_hardware Plugin (custom robot moveit configuration package)
  • 4.1. Fairino_hardware Plugin Compilation
  • 4.2. Fairino_hardware Plugin Usage
  • 4.3. Running Plug-ins
  • 4.4. Running Result
  • 4.5. Fairino_hardware Plugin (official robot moveit configuration package)
• 5. MTC Sample Code Package
  • 5.1. MTC Sample Code Package Introduction
  • 5.2. MTC Sample Code Package Compilation
    • 5.2.1. MTC Sample Code Package Cloning
    • 5.2.2. Robot Model Selection
    • 5.2.3. MTC Sample Code Package Compilation
      • Compiling the fairino_description function package
      • Compile robot function packs
      • Compile fairino_mtc_demo function package
  • 5.3. The MTC Sample Code Package Runs
    • 5.3.1. Rviz2 Interface
    • 5.3.2. Robot Motion
• 6. Caveat
  • 6.1. Fairino_hardware Plugin Version Synchronization
  • 6.2. Problems Likely To Be Encountered
    • 6.2.1. The robot model may not be loaded on the right side of the Configure Robot Feature Pack.
    • 6.2.2. After generating the package, there is an error running it.
• 7. Summarize