WBC ROS 2 - Cartesian Space Example
To run a simple Cartesian pose control example, you can do
ros2 launch wbc_ros cartesian_space_example.launch.py
To visualize the robot, you can do
rviz2 -d install/wbc_ros/share/wbc_ros/config/default.rviz
You should now see the KUKA iiwa robot in rviz, performing a circular end effector trajectory:
In the cartesian_space_example.launch.py file, the code to load the example is explained step by step. The iiwa_controllers.yaml file describes the ROS 2 control configuration, which is loaded in the launch file.
If you type ros2 control list_controllers you can see the available controllers:
whole_body_controller[wbc_ros/WholeBodyController] active
joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
cartesian_position_controller[wbc_ros/CartesianPositionController] active