Tormach Moveit branch

Robots
1

Hello,
I was trying to run the rviz moveit motion planning plugin on another computer connected to our za6, but the moveit_msgs on my machine are not the same as on the za6, so it will not communicate. I copied the message files over from the za6, but the plugin itself references parts of the messge that have changed. A coworker who had talked to a company representative said that Tormach has a custom version of moveit running on the za6, but that it was open source. Where can I find the Tormach code so that I can run rviz on my other machine?
Thank you!

2

Hi, you’re right, Tormach has made some customizations to moveit and moveit_msgs.

I’ve pushed our changes to Tormach’s GitHub organization for you here:

Thanks! I’m glad to see someone doing outside the box things with the ZA6!

3

Thanks John! I appreciate it

4

Update on this question:

We just pushed a “mini release” v. 3.2.4 that helps you connect your remote ROS workspace to the ZA ROS master, and get access to all its messages. This is done in two parts:

  • The ROS master is visible to the LAN; check the lower-right corner of the UI, which will show the ROS master URL
  • All custom ZA ROS messages (or vcstool config for fetching them) are published in a new GitHub repo

See the GitHub repo for instructions for how to use it at GitHub - tormach/tormach_za_msgs: Tormach ZA robot ROS interface message packages

Hope it helps!