8. MoveIt 2¶
8.1. Learning Objectives¶
This tutorial is demonstrating Omniverse Isaac Sim integrated with MoveIt 2 using the Franka Emika Panda robot.
8.2. Getting Started¶
Complete ROS & ROS 2 Installation.
Install MoveIt 2 from pre-built binaries (Debian):
sudo apt install ros-$ROS_DISTRO-moveit
We use the
isaac_moveitROS2 package which contains the required launch and config files. Ensure that
ros2_workspaceis sourced so that
isaac_moveitis inside your ROS2 workspace.
Enable the omni.isaac.ros2_bridge extension from the extension manager menu Window->Extensions.
8.3. Running MoveIt 2¶
Load the environment by going to Isaac Examples -> ROS -> MoveIt.
Launch the execution launch file with the following command:
ros2 launch isaac_moveit franka_isaac_execution.launch.py
A RViz2 window will open up. Add the MotionPlanning Plugin by clicking
Add. Then, under the moveit_ros_visualization folder, choose
Planning Group, the
handoption should be selected. Under
Goal State, select
Plan. The planned movement of the hand will now be visualized.
Execute. The hand will start moving as planned earlier.
To plan the movement for the arm, under
Planning Group, select
panda_arm. Use the displayed arrows and rotation disks to set a goal position for the robot. Alternatively you can choose to select
Commands, click on
Executeto visualize the planned motion of the arm and then move it!
In this tutorial, we covered running MoveIt 2 with Omniverse Isaac Sim.
8.4.1. Next Steps¶
Continue on to the next tutorial in our ROS2 Tutorials series, ROS2 Bridge in Standalone Workflow to learn how to run the ROS2 Bridge in the standalone workflow.