MoveIt2

Introduction to MoveIt2

MoveIt2 is an integrated development platform in ROS2, consisting of a variety of function packages for manipulating robotic arms, including: motion planning, manipulation, control, inverse kinematics, 3D perception, and collision detection.

Core functions

  1. Motion Planning MoveIt 2 provides motion planning capabilities based on OMPL (Open Motion Planning Library) and other third-party libraries, supporting a variety of planning algorithms and constraints.

  2. Inverse Kinematics (IK) MoveIt 2 uses a plug-in mechanism to support different IK solvers, which can quickly calculate the target pose of the robotic arm.

  3. Collision Detection & Avoidance MoveIt 2 has built-in powerful collision detection capabilities to ensure that the robot does not collide with the surrounding environment when planning and executing movements.

  4. Dynamic Scene Awareness MoveIt 2 supports dynamic updates of the environment model and can sense changes in obstacles in real time.

  5. Control & Execution MoveIt 2 provides a motion control interface that is tightly integrated with the robot hardware to ensure that the planned path can be accurately executed.

  6. Visualization Tools Integrated with RViz 2, it supports intuitive interaction and debugging functions, and can display the motion planning and execution process in real time.

Advantages of MoveIt 2

  • Real-time support based on ROS 2 The DDS communication architecture of ROS 2 enables MoveIt 2, which has significantly improved real-time performance and reliability.

  • Modular design MoveIt 2 adopts a modular architecture, which supports users to load or replace modules as needed, providing great flexibility.

  • Cross-platform support MoveIt 2 supports running on multiple operating systems (such as Ubuntu, Windows) and hardware platforms.

  • Active Community Support MoveIt 2 has a global developer community that continuously provides updates, feature extensions, and technical support.

Configuration

  1. URDF - Universal Robot Description Format.

  2. SRDF - includes the robot's joint groups, virtual and passive joints, robot poses, self-collisions, and is usually created by the user using the MoveIt2 Setup Assistant.

  3. MoveIt2 Configuration - includes joint limits, kinematics, motion planning, perception, and other information. Configuration files for these components are automatically generated by the MoveIt2 Setup Assistant (MoveIt2 Configuration Assistant) and stored in the configuration directory of the robot's corresponding MoveIt2 configuration package.

How to use MoveIt2

Note: For better motion planning, the Atom firmware version of the end-arm is 6.5, and the python driver library pymycobot version is 3.5.3

mycobot_ros2 has now integrated the MoveIt2 part.

Open the command line and run:

ros2 lanuch mycobot_280_moveit2 demo.launch.py

The operation effect is as follows:

If you need to let the real robot arm execute the plan synchronously, you need to open another command line and run:

ros2 run mycobot_280_moveit2_control sync_plan

Case demonstration:

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