This package contains launch files: the main driver launcher, the MoveIt launch file and demo examples:
rizon.launch.py- the main launcher: starts ros2_control node including hardware interface, runs joint states, Flexiv robot states broadcaster, and a controller, and visualizes the current robot pose in RViZ. The default controller isrizon_arm_controller, a joint trajectory controller.rizon_moveit.launch.py- runs MoveIt together with the main driver. The controller for robot joints started in this launch file is rizon_arm_controller.test_joint_trajectory_controller.launch- sends joint trajectory goals to the rizon_arm_controller.sine_sweep_position.launch.py- gets current joint states and then performs a sine-sweep motion with forward_position_controller.sine_sweep_impedance.launch.py- gets current joint states and then performs a sine-sweep motion with joint_impedance_controller.
NOTE: The example launch files run the demo nodes from the flexiv_test_nodes package, with the parameters defined in /config.