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Version: ROS 2 Humble

kinova_gen3_6dof

manipulators:
  arms:
    - model: kinova_gen3_6dof
      parent: default_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      ip: 192.168.131.40
      port: 10000
      gripper:
        model: robotiq_2f_85

Package and Setup​

The Kinova Gen3 6Dof uses the kortex_description and kortex_driver ROS 2 Packages. The driver is open source, maintaned by Kinova Robotics, and hosted on GitHub.

For more specifics on the way Clearpath's configuration system adds the manipulator to the robot description, see the Kinova Gen3 6Dof description file in clearpath_manipulators_description.

Device IP and Port​

The ip and port parameters must be set to the corresponding values set on the manipulators configuration page.

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