##########################################################
Control Ned/Ned2 with MoveIt and ROS Multi-Machines
##########################################################

**V.1.1**

.. image:: /images/moveit_multimachines/niryo_moveit_multimachines.png
                     :alt: Niryo Moveit! multimachines banner
                     :width: 100%
                     :align: center

Difficulty: ``easy``

Time: ``~10 min``

.. note::
    This tutorial is working from:
       | The version v3.2.0 of the ned_ros_stack 

This tutorial explains how to control Ned/Ned2 with Rviz through the MoveIt plugin, in Multi-machines.

Before going further, please refer to our :doc:`Multi-machines <./setup_ned_ros_multi_machines>`, and our :doc:`Connect to Ned via SSH <./setup_connect_ned_ssh>` tutorials. 
You can also refer to the ROS Multi-machines tutorial: `Running ROS across multiple machines <http://wiki.ros.org/ROS/Tutorials/MultipleMachines>`_.

What you will need
-------------------------

- A Ned (or a Ned2),
- A computer with Ubuntu (we used Ubuntu 18.04),
- To have Rviz installed on your computer,
- To have the niryo_robot_bringup ROS package on your computer, a part of the Ned/Ned2 ROS Stack that you can `download here <https://github.com/NiryoRobotics/ned_ros>`_.


Setup
-------------------------

In each terminal you'll use, you have to setup the ROS_MASTER_URI and ROS_IP environment
variables. **The master is hosted on Ned/Ned2**.

.. hint:: We recommend to use an ethernet connection between your computer and Ned to
          optimize the communication speed.

On Ned/Ned2
^^^^^^^^^^^

First, in a terminal, connect to Ned/Ned2 in SSH, with the command line: ::

    ssh niryo@<ned_static_ip_address>

We use the **hardware_interface_standalone.launch** file, which only launches on Ned/Ned2: 

- The Hardware Stack (which publishes on the /joint_state topic), with the motor's drivers,
- The controllers,
- The robot description (loads the urdf file of the robot),
- The robot state publisher.

Launch it on Ned/Ned2 with: ::

    roslaunch niryo_robot_hardware_interface hardware_interface_standalone.launch 


On your computer
^^^^^^^^^^^^^^^^^^

We use the **moveit_multimachines.launch** file, which launches:

- The command validation group (which checks that commands are not out of bounds)
- The Moveit! move group interface

This file is in the niryo_robot_bringup package on the Ned/Ned2 ROS Stack. Launch it with: ::

    roslaunch niryo_robot_bringup moveit_multimachines.launch

Finally, in a third terminal, launch **Rviz** with: ::

    rosrun rviz rviz



Control Ned/Ned2 through Rviz
-------------------------------------

After opening Rviz, make sure that the "fixed frame" is set to "world". Add the **MotionPlanning** to the visualization. You should now have:


.. figure :: ../../images/moveit_multimachines/rviz_visualization.png
    :width: 900px
    :align: center

    Ned in Rviz

.. important:: In order to make Ned/Ned2 move, you'll have to:

        - Make sure Ned/Ned2 is well calibrated with: ::

            rosservice call /niryo_robot/joints_interface/calibrate_motors "value: 1"

        - Deactivate the Learning Mode with: ::

            rosservice call /niryo_robot/learning_mode/activate "value: false" 


You should now be able to move the goal position and orientation of the end effector thanks to the differents arrows:

.. figure :: ../../images/moveit_multimachines/new_goal.png
    :width: 900px
    :align: center

    Define a new goal

Once the goal position is defined, click **Plan and Execute** so Moveit! calculate the path to the goal and execute it. You are 
now able to visualize Ned/Ned2's current state in Rviz, and to control its movements through Rviz.

.. figure :: ../../images/moveit_multimachines/plan_and_execute.png
    :width: 900px
    :align: center

    Plan and execute path

You can also play with the **many options** provided by MotionPlanning, like making Ned/Ned2 move along a Cartesian path!