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
  • 2.3. Fairino_hardware Plugin (custom robot moveit configuration package)
    • 2.3.1. Fairino_hardware Plugin Compilation
    • 2.3.2. Fairino_hardware Plugin Usage
    • 2.3.3. Running Plug-ins
    • 2.3.4. Running Result
  • 2.4. Fairino_hardware Plugin (official robot moveit configuration package)
• 3. MTC Sample Code Package
  • 3.1. MTC Sample Code Package Introduction
  • 3.2. MTC Sample Code Package Compilation
    • 3.2.1. MTC Sample Code Package Cloning
    • 3.2.2. Robot Model Selection
    • 3.2.3. MTC Sample Code Package Compilation
      • Compiling the fairino_description function package
      • Compile robot function packs
      • Compile fairino_mtc_demo function package
  • 3.3. The MTC Sample Code Package Runs
    • 3.3.1. Rviz2 Interface
    • 3.3.2. Robot Motion
• 4. Caveat
  • 4.1. Fairino_hardware Plugin Version Synchronization
  • 4.2. Problems Likely To Be Encountered
    • 4.2.1. The robot model may not be loaded on the right side of the Configure Robot Feature Pack.
    • 4.2.2. After generating the package, there is an error running it.
• 5. Summarize