MoveIt 2 Beta - Demo Setup

The run_moveit_cpp package provides a simulated robot setup that shows how to get started with MoveIt 2. The demo includes examples for:

• Configuring and loading MoveIt using MoveItCpp
• Running a simulated robot
• Visualizing robot and planning scene in RViz
• Planning and execution of robot trajectories

Running the Demo

This demo launches the RViz GUI and demonstrates planning and execution of a simple collision-free motion plan with the panda robot. This involves a big range of components: IK solver and collision checking plugins, PlanningScene, RobotModel, PlanningPipeline including adapters, OMPL planner and RViz visualization (Trajectory and PlanningScene displays).

 ros2 launch run_moveit_cpp run_moveit_cpp.launch.py

Changelog for package run_moveit_cpp

2.2.2 (2021-11-16)

• Migrate to joint_state_broadcaster (#656)
• Add missing exec dependencies to demo packages (#582)
• Fix loading joint_limits.yaml in demo and test launch files (#544)
• Contributors: Henning Kayser, Jafar Abdi, Vatan Aksoy Tezer, Tyler Weaver

2.2.1 (2021-07-12)

2.2.0 (2021-06-30)

• [sync] MoveIt's master branch up-to https://github.com/ros-planning/moveit/commit/0d0a6a171b3fbea97a0c4f284e13433ba66a4ea4
• Contributors: JafarAbdi

2.1.4 (2021-05-31)

• Delete MoveIt fake_controller_manager (#471)
• Contributors: AndyZe

2.1.3 (2021-05-22)

2.1.2 (2021-04-20)

• Unify PickNik name in copyrights (#419)
• Contributors: Tyler Weaver

2.1.1 (2021-04-12)

• Update launch files to use ros2 control spawner (#405)
• Use fake_components::GenericSystem from ros2_control (#361)
• Fix EXPORT install in CMake (#372)
• Contributors: Jafar Abdi, Tyler Weaver

2.1.0 (2020-11-23)

2.0.0 (2020-02-17)

• [fix] Fix run_moveit_cpp version
• [fix] ROS2 demo: Fix comment for static TF
• [fix] ROS2 demo: Scope locked planning scene
• [improve] Add collision object to the demo
• [fix] Fix setup instructions for ROS2 demo
• [improve] Add start positions config files
• [doc] Add README.md for [run_moveit_cpp]{.title-ref}
• [improve] ROS2 demo: Improve plan visualization
• [improve] Add .repos with demo runtime dependencies
• [improve] Add trajectory publisher
• [improve] Add fake joint driver node with config files
• [improve] Edit Rviz config file
• [improve] ROS2 demo: Add RViz config file
• [improve] ROS2 demo: Async execution and plan visualization
• [improve] ROS2 demo: Launch RViz
• [improve] Add demo package run_moveit_cpp
• Contributors: Henning Kayser, Jafar Abdi