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.
-
Launch the AR3 simulation
ros2 launch ar3_bringup ar3_base.launch.py use_fake_hardware:=True
-
Start MoveIt2
ros2 launch ar3_moveit2_config moveit.launch.py
-
In the RVIZ MotionPlanning panel, change the Goal state to "shutdown" and click on "Plan & Execute".