moveit_pro_kinova_ws

This is a MoveIt Pro robot workspace for Kinova Gen3 7DoF arms.

Refer to the Kinova Gen3 Hardware Setup Guide for installation.

Included configurations

The main branch ships a boilerplate Kinova Gen3 7DoF arm with the arm-integrated Vision Module wrist camera and no gripper. The three configurations form an inheritance chain (per robot_and_objective_inheritance):

kinova_gen3_mock  →  kinova_gen3_sim  →  kinova_gen3_hw

• kinova_gen3_mock — bare arm with ros2_control mock hardware. Owns the shared URDF, SRDF, MoveIt configuration, ros2_control config, and Objectives.
• kinova_gen3_sim — MuJoCo-simulated arm. Inherits everything from kinova_gen3_mock; only adds the MuJoCo scene and simulator launch file.
• kinova_gen3_hw — real Kinova Kortex hardware. Inherits from kinova_gen3_sim; only overrides simulated, robot_ip, and the hardware driver launch file. Set robot_ip for your robot before running.
• kinova_pstop_manager — helper node for Kortex protective-stop events, loaded by the _hw driver launch.

Add-ons such as a Robotiq gripper, an external RealSense, or full demos belong on their own branches that diverge from this boilerplate. See:

• space-satellite — full satellite manipulation demo with Robotiq, external RealSense, AprilTag tracking, and Fuse state estimation.