IBT ROS2 Driver

Getting Started

1. Clone IBT descriptions

git clone https://github.com/InnoboticsSRL/ibt_ros2_description.git

2. Clone PyMoveit2

git clone https://github.com/InnoboticsSRL/pymoveit2.git

3. Install dependencies

pip install glowbuzzer-gbp

4. Compile the entire workspace

colcon build --symlink-install

5. Launch the driver with

ros2 launch ibt_moveit_config moveit.launch.py

or Launch only ibt_robot_driver

ros2 launch ibt_robot_driver ibt_robot_driver.launch.py

Move Arm with Moveit2

. install/setup.bash
python3 pymoveit_move_arm.py 

Tests

cd ibt_robot_driver
pytest