9. MoveIt 2¶
9.1. Learning Objectives¶
This tutorial is supplementary to the Tutorials provided on the MoveIt Humble website.
9.2. Getting Started¶
Complete ROS & ROS 2 Installation.
FASTRTPS_DEFAULT_PROFILES_FILEenvironment variable per instructions in ROS & ROS 2 Installation before launching Isaac Sim, as well as any terminal where ROS messages will be sent or received.
9.3. Running MoveIt 2 Tutorial in Docker¶
Follow the instructions on the MoveIt Humble website to clone the repo, build the docker, and launch both Isaac Sim and Moveit via Python scripts.
Once Rviz is launched, you can start playing with the planner. Under
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!
If your Rviz window is showing a black screen for where the robot should be, you may need to update your mesa driver. Add the following commands to
moveit2_tutorials/doc/how_to_guides/isaac_panda/.docker/Dockerfile after line 17.
# update mesa driver RUN apt update && apt install -y software-properties-common && add-apt-repository ppa:kisak/kisak-mesa && apt install -y mesa-utils RUN apt -y upgrade
Tips for running MoveIt2’s Isaac Sim tutorial.
9.6.1. 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.