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ign_moveit2_examples

C++ and Python examples of using MoveIt 2 for planning motions that are executed inside Ignition Gazebo simulation environment. These examples make use of ros2_control via gz_ros2_control.

The interaction among different ROS 2, MoveIt 2 and Gazebo components is further documented in docs/README.md, alongside suggestions for implementing a similar setup on your custom robot.

For legacy approach using JointTrajectoryController Ignition plugin, please see legacy_jtc_ign_plugin branch.

At the time of writing these examples, there were no official Python bindings for MoveIt 2. Therefore, pymoveit2 module is employed as the MoveIt 2 interface in all Python examples.

Instructions

Dependencies

These are the primary dependencies required to use this project.

• ROS 2 Galactic
• Gazebo Fortress

All additional dependencies are either pulled via vcstool (ign_moveit2_examples.repos) or installed via rosdep during the building process below.

Building

Clone this repository, import dependencies, install dependencies and build with colcon.

# Clone this repository into your favourite ROS 2 workspace
git clone https://github.com/AndrejOrsula/ign_moveit2_examples.git
# Import dependencies
vcs import < ign_moveit2_examples/ign_moveit2_examples.repos
# Install dependencies
IGNITION_VERSION=fortress rosdep install -y -r -i --rosdistro ${ROS_DISTRO} --from-paths .
# Build
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"

Sourcing

Before utilising this package, remember to source the ROS 2 workspace.

source install/local_setup.bash

This enables:

• Execution of binaries, scripts and examples via ros2 run ign_moveit2_examples <executable>
• Launching of setup scripts via ros2 launch ign_moveit2_examples <launch_script>
• Discoverability of shared resources

Examples

In order to run any of the included examples, just launch the corresponding script.

Follow Target

# C++
ros2 launch ign_moveit2_examples ex_cpp_follow_target.launch.py
# Python
ros2 launch ign_moveit2_examples ex_py_follow_target.launch.py

Throw Object

# Python
ros2 launch ign_moveit2_examples ex_py_throw_object.launch.py

Directory Structure

.
├── examples/                      # [dir] Nodes used for examples
    ├── cpp/                       # [dir] C++ nodes
    └── py/                        # [dir] Python nodes
├── launch/                        # [dir] Launch scripts for examples
    ├── robots/                    # [dir] Launch scripts that spawn robots into environment
    ├── worlds/                    # [dir] Launch scripts that setup the environment
    ├── default.launch.py          # Default launch script used by all edxamples
    ├── ex_cpp_*.launch.py         # C++ launch scripts
    └── ex_py_*.launch.py          # Python launch scripts
├── rviz/ign_moveit2_examples.rviz # RViz2 config for motion planning with MoveIt 2
├── worlds/                        # [dir] World descriptors
├── CMakeLists.txt                 # Colcon-enabled CMake recipe
└── package.xml                    # ROS 2 package metadata