This is a great tutorial and starting point to learning how to use moveit2 in a <4gb image containing Docker, ROS2, Moveit2.
- Ubuntu (unsure of which version is recommended)
- Download docker (More info here)
First time users?
- Clone Moveit2 Tutorial Repository (Github link)
>> git clone https://github.com/azalutsky/MoveIt2Docker.git
...or if you prefer to clone with ssh...
>> git clone git@github.com:azalutsky/MoveIt2Docker.git
- Build Docker image (This takes time, 10-20 minutes (sorry...), go grab a coffee/beer/...lunch)
>> sh ./build_docker.sh
- Run docker container
>> ./run_docker.sh
...
ROS2 sourced, sail away
root@anton-the-manton:~#
If successful, you will see this splash screen stating ROS2 sourced.
Now, visit here: Moveit2 Tutorial Lets do the first steps together...
>> ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true
...and get started learning Moveit2! If you find something you did useful, add it here! Good luck!