Arms MoveIt

This repository contains MoveIt configurations for various robotic arms and common launch programs. The robot description files are located in the robot_descriptions. For enhanced control capabilities, you can optionally include the arms_ros2_control package.

Basic setup:

ros2_ws
├── src
│   ├── robot_descriptions
│   └── arms_moveit

Enhanced setup (recommended):

ros2_ws
├── src
│   ├── robot_descriptions
│   ├── arms_moveit
│   └── arms_ros2_control  # Optional: Enhanced control packages

1. MoveIt2 Control

1.1 MoveIt2 Environment Setup

Please refer to the MoveIt2 Getting Started guide for installation instructions.

1.2 Try Your First Launch

After setting up the MoveIt2 environment, you can build and test the moveit_config packages.

• Build Dobot CR5 MoveIt2 package

  cd ~/ros2_ws
  colcon build --packages-up-to cr5_moveit_config --symlink-install

• Launch with mock components

  source ~/ros2_ws/install/setup.bash
  ros2 launch moveit_common_config demo.launch.py robot:=cr5

  

2. MoveIt2 with Gazebo

To launch MoveIt2 with Gazebo, you need to install Gazebo Harmonic. You can choose between the default ROS2 Gazebo integration or the enhanced version from arms_ros2_control.

Option 1: Default ROS2 Gazebo Integration

• Use the standard ROS2 Gazebo integration.

  sudo apt-get install ros-humble-gz-ros2-control

Option 2: Enhanced gz_ros2_control (Recommended)

• Install Gazebo Harmonic (ROS2 Humble)

  sudo apt-get install ros-humble-ros-gzharmonic

• The enhanced gz_ros2_control package is included in the arms_ros2_control project. Make sure you have the complete project structure:

  ros2_ws
  ├── src
  │   ├── robot_descriptions
  │   ├── arms_moveit
  │   └── arms_ros2_control
  │       └── hardwares
  │           └── gz_ros2_control  # (Modifed for ROS2 Humble + Gazebo Harmonic)
  

• Compile the enhanced gz_ros2_control package

  cd ~/ros2_ws
  colcon build --packages-up-to gz_ros2_control --symlink-install

• Launch MoveIt2 with Gazebo

  source ~/ros2_ws/install/setup.bash
  ros2 launch moveit_common_config demo.launch.py robot:=cr5 hardware:=gz

  

3. Moveit2 with IsaacSim

To launch MoveIt2 with Isaac Sim, you can choose between the default topic-based integration or the enhanced version from arms_ros2_control.

Option 1: Default Topic-based Integration

• Use the standard topic-based integration

  sudo apt-get install ros-humble-topic-based-ros2-control

Option 2: Enhanced topic_based_ros2_control (Recommended)

• The enhanced topic_based_ros2_control package is included in the arms_ros2_control project. Make sure you have the complete project structure:

  ros2_ws
  ├── src
  │   ├── robot_descriptions
  │   ├── arms_moveit
  │   └── arms_ros2_control
  │       └── hardwares
  │           └── topic_based_ros2_control  # Enhanced topic-based integration
  

• Compile the enhanced topic_based_ros2_control package

  cd ~/ros2_ws
  colcon build --packages-up-to topic_based_ros2_control --symlink-install

• Launch MoveIt2 with Isaac Sim (Launch Isaac Sim before this step)

  source ~/ros2_ws/install/setup.bash
  ros2 launch moveit_common_config demo.launch.py hardware:=isaac robot:=cr5

  

Note: The enhanced topic_based_ros2_control package provides improved safety features, including the ability to use the robot's current position as the initial command position. This prevents sudden movements at startup and is especially important for real hardware applications. The package includes a configurable parameter initialize_commands_from_state to control this behavior.

4. Using MoveIt2 Servo for Teleoperation

How to control using joystick:

• A for switch frame between base and end-effector.
• X for trigger the gripper.

• Compile moveit teleop

  cd ~/ros2_ws
  colcon build --packages-up-to moveit_teleop --symlink-install

• Mock Components

  source ~/ros2_ws/install/setup.bash
  ros2 launch moveit_common_config servo.launch.py robot:=cr5 

• Gazebo

  source ~/ros2_ws/install/setup.bash
  ros2 launch moveit_common_config servo.launch.py hardware:=gz robot:=cr5 

• Isaac Sim

  source ~/ros2_ws/install/setup.bash
  ros2 launch moveit_common_config servo.launch.py hardware:=isaac robot:=cr5