# Moveit 2  joint position control with keyboard

### Install moveit2

Step by step souce code install:

{% embed url="<https://www.youtube.com/watch?v=NGAybicdGro>" %}

Or you can use Binary Install as a simple option:

```
sudo apt install ros-jazzy-moveit
sudo apt install ros-jazzy-moveit-task-constructor
```

### Create ROS package

```
mkdir -p ~/moveit2_practice/src
cd ~/moveit2_practice/src
ros2 pkg create --build-type ament_python panda_joint_control --dependencies rclpy control_msgs trajectory_msgs --maintainer-email robotlabs@todo.com
```

### Coding for python node

Inside the panda\_joint\_control folder in the package, create a file named `panda_joint_controller.py` and add following code:

```python
import rclpy
from rclpy.node import Node
from control_msgs.msg import JointTrajectoryControllerState
from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
import sys
import tty
import termios

class PandaJointController(Node):
    def __init__(self):
        super().__init__('panda_joint_controller')
        # publisher that publish to "/panda_arm_controller/joint_trajectory" topic
        self.publisher_ = self.create_publisher(JointTrajectory, '/panda_arm_controller/joint_trajectory', 10)
        # joint name list
        self.joint_names = ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7']
        # initialize joint position
        self.joint_positions = [0.0] * 7
        # joint position step
        self.step = 0.1

    def get_key(self):
        # get input key
        settings = termios.tcgetattr(sys.stdin)
        try:
            tty.setraw(sys.stdin.fileno())
            key = sys.stdin.read(1)
        finally:
            termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
        return key

    def send_trajectory(self):
        # create JointTrajectory msg
        trajectory_msg = JointTrajectory()
        trajectory_msg.joint_names = self.joint_names

        # create JointTrajectoryPoint and set target pos
        point = JointTrajectoryPoint()
        point.positions = self.joint_positions
        # set move time
        point.time_from_start = rclpy.duration.Duration(seconds=1).to_msg()

        # add point to path
        trajectory_msg.points.append(point)

        # publish path msg
        self.publisher_.publish(trajectory_msg)
        self.get_logger().info('Sent joint trajectory command')

    def run(self):
        while rclpy.ok():
            key = self.get_key()
            if key == '-':  # - and no. for reverse movement
                self.minus_pressed = True
            elif key in ['1', '2', '3', '4', '5', '6', '7']:
                index = int(key) - 1
                if self.minus_pressed:
                    self.joint_positions[index] -= self.step
                    self.minus_pressed = False
                else:
                    self.joint_positions[index] += self.step
                self.send_trajectory()  # call send_traj to pub the control
            elif key == '\x03':  # Ctrl+C 
                break

def main(args=None):
    rclpy.init(args=args)
    panda_joint_controller = PandaJointController()
    panda_joint_controller.run()
    panda_joint_controller.destroy_node()
    rclpy.shutdown()

if __name__ == '__main__':
    main()
```

Edit `setup.py`&#x20;

```python
    entry_points={
        'console_scripts': [
            'panda_joint_controller = panda_joint_control.panda_joint_controller:main',
        ],
    },
```

### Build the package

```
cd ~/moveit2_practice
colcon build --packages-select panda_joint_control
```

### Test and Run

For Moveit2 Humble, launch the demo as follows:

```
ros2 launch moveit2_tutorials demo.launch.py
```

For Moveit2 Jazzy, launch the demo as follows:

```
ros2 launch moveit_task_constructor_demo demo.launch.py
```

Run the code that we just created:

```
source install/setup.bash
ros2 run panda_joint_control panda_joint_controller
```

Press key 1 - 7 to control robot arm's joint movement.


---

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