The run_moveit_cpp package provides a simulated robot setup that shows how to get started with MoveIt 2.
The demo includes examples for:
- Configuring and loading MoveIt using MoveItCpp
- Running a simulated robot
- Visualizing robot and planning scene in RViz
- Planning and execution of robot trajectories
The MoveIt 2 Demo provides all necessary features in order to get a simple robot setup running with ROS 2. There are two options and launch files for simulating the robot controllers (the demo is the same):
- ros2_control using a fake_joint driver:
run_moveit_cpp.launch.py - MoveIt's fake controller:
run_moveit_cpp_fake_controller.launch.py
Before running the demo, there are additional dependencies that need to be installed:
For that, simply import run_moveit_cpp.repos into your workspace and recompile with colcon (assuming the workspace has been compiled and sourced following the installation instructions):
cd $COLCON_WS/src
vcs import < moveit2/moveit_demo_nodes/run_moveit_cpp/run_moveit_cpp.repos
rosdep install --from-paths . --ignore-src --rosdistro foxy
cd ..
colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/setup.bash
The demo can be run using the launch files run_moveit_cpp.launch.py or run_moveit_cpp_fake_controller.launch.py:
ros2 launch run_moveit_cpp run_moveit_cpp.launch.py
The demo launches the RViz GUI and demonstrates planning and execution of a simple collision-free motion plan with the panda robot.
This involves a big range of functioning components: IK solver and collision checking plugins, PlanningScene, RobotModel, PlanningPipeline including adapters, OMPL planner and RViz visualization (Trajectory and PlanningScene displays).