Actions are one of the communication types in ROS 2 and are intended for long running tasks. They consist of three parts a goal, feedback, and a result. Actions are built on topics and services. Their functionality is similar to services, except actions are preemptable (you can cancel them while executing). They also provide steady feedback. source installsetup.bash ros2 launch urbringup urmoveit.launch.py urtypeur5e robotip192.168.20.35 launchrviztrue As shown in the above figure, now you can use the MoveIt Plugin in rviz2 to plan and execute trajectories with the robot. RVIZ2 is a useful visualization tool in ROS2. Open a new terminal window, and type the following commands, one right after the other. sudo apt install ros-foxy-joint-state-publisher-gui. sudo apt install ros-foxy-xacro. The format of the commands above is sudo apt install ros-<ros2-distro>-joint-state-publisher-gui. sudo apt install ros-<ros2-distro>-xacro.

Aug 31, 2021 Hi I am in Unit6 for Debugging tools. Some comments. In example 6.1 At step 2, for zoom in and out Right click should be pressed instead of left click. source installsetup.bash ros2 launch urbringup urmoveit.launch.py urtypeur5e robotip192.168.20.35 launchrviztrue As shown in the above figure, now you can use the MoveIt Plugin in rviz2 to plan and execute trajectories with the robot. RVIZ2 is a useful visualization tool in ROS2. 2021-9-5 &0183; cd devws . installsetup.bash RViz2 ros2 launch pcdros2demo pcdpublisherdemo.launch.py RViz2RViz23D.
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