MOVO Cartesian Server

Simple PD controller for movo arm to move in cartesian space

installation

git clone this ros package to your movo catkin workspace and build the workspace
movo_msgs is a required dependency
make sure the rotating frame of both arms are set to Fixed frame before using this package, follow this discussion on movo github

the program will move the left arm and right arm by 5cm in x, y, z direction with respect to the base_link

roslaunch cartesian_server cart_controller.launch

cd [your directory]/cartesian_server/test

python cartesian_motion_test.py