MoveIt Installation - ashBabu/Utilities GitHub Wiki

MoveIt 2, ROS2 Humble and Ign Gazebo Integration

Detailed explanation

MoveIt Installation

MoveIt is installed from source. This would install some other planners like CHOMP along with the sampling based planners provided in OMPL

MoveIt can be installed from here Or follow the instructions for ROS Kinetic below

  1. rosdep update
  2. sudo apt-get update
  3. sudo apt-get dist-upgrade
  4. sudo apt-get install python-wstool python-catkin-tools clang-format-3.8

Inside your catkin folder

  1. wstool init src
  2. wstool merge -t src https://raw.githubusercontent.com/ros-planning/moveit/kinetic-devel/moveit.rosinstall
  3. wstool update -t src
  4. rosdep install -y --from-paths src --ignore-src --rosdistro kinetic
  5. catkin config --extend /opt/ros/kinetic --cmake-args -DCMAKE_BUILD_TYPE=Release
  6. catkin_make

A lot of tutorials on how to use franka robot with MoveIt can be found here The README.md file here describes how to move the robot to a position from the clicked point on an image obtained from Kinect. To move the franka robot using pose-goal, joint values, cartesian path etc can be found here To learn the above tutorial, follow the steps below

  1. roslaunch panda_moveit_config demo.launch for simulated robot or roslaunch franka_control franka_control.launch robot_ip:=172.16.0.2 load_gripper:=True/False for real robot
  2. python move_group_python_interface_tutorial.py and follow the instructions on the screen

Very Imp Note: The real robot has obstacles (aluminium frame) which are not defined in the simulations. Hence, there is a chance that the robot comes in collision with it. Always have the emergency stop ready to be operated

Converting point-clouds to Octomap for obstacle avoidance

The detailed tutorial is available here Only the highlights are reproduced below:

  1. Create a file named “sensors_kinect_pointcloud.yaml” and save it in the config folder in the panda_moveit_config folder (/catkin_ws/src/franka_ros/panda_moveit_config/config) with the following lines
sensors:
  - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
    point_cloud_topic: /ceiling_camera/qhd/points
    max_range: 1.5  # This value sets the max range the camera can see
    point_subsample: 1
    padding_offset: 0.1
    padding_scale: 1.0
    max_update_rate: 1.0
    filtered_cloud_topic: filtered_cloud
  1. Update the panda_moveit_sensor_manager.launch.xml file in the “launch” directory of your panda_moveit_config directory with the following sensor information.

<rosparam command="load" file="$(find panda_moveit_config)/config/sensors_kinect_pointcloud.yaml" />

  1. Also configure the Octomap by adding the following lines into the sensor_manager.launch.xml under panda_moveit_config/launch:
<param name="octomap_frame" type="string" value="odom_combined" />
<param name="octomap_resolution" type="double" value="0.05" />
<param name="max_range" type="double" value="5.0" />