pymoveit2

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services.


Joint Goal	Pose Goal	Gripper Action	MoveIt 2 Servo

Instructions

Requirements

OS: Ubuntu 20.04 (Focal)
- Other distributions might work (not tested).

Dependencies

These are the primary dependencies required to use this project.

ROS 2 Rolling
- Foxy and Galactic might work too (not tested)
MoveIt 2
- Install/build a version based on the selected ROS 2 release
Python 3 (tested with 3.8)

Building

Clone this repository, install dependencies with rosdep, and build with colcon.

# Clone this repository into your favourite ROS 2 workspace
git clone https://github.com/AndrejOrsula/pymoveit2.git
# Install dependencies
rosdep install -r --from-paths . --ignore-src --rosdistro ${ROS_DISTRO}
# Build
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"

Sourcing

Before utilising this package, remember to source the ROS 2 workspace overlay.

source ${PYMOVEIT2_WS_DIR}/install/local_setup.bash

This enables importing of pymoveit2 module from external workspaces.

Examples

To demostrate pymoveit2 usage, examples directory contains scripts that demonstrate the basic functionality.

Prior to running the examples, configure an environment for control of a robot with MoveIt 2, e.g. one of the following launch scripts from panda_ign_moveit2.

# RViz (fake) ROS 2 control
ros2 launch panda_moveit_config ex_fake_control.launch.py
# Ignition Gazebo (simulated) ROS 2 control
ros2 launch panda_moveit_config ex_ign_control.launch.py

After that, the individual scripts can be run.

# Move to joint configuration
ros2 run pymoveit2 ex_joint_goal.py --ros-args -p joint_positions:="[1.57, -1.57, 0.0, -1.57, 0.0, 1.57, 0.7854]"
# Move to Cartesian pose
ros2 run pymoveit2 ex_pose_goal.py --ros-args -p position:="[0.25, 0.0, 1.0]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"
# Repeatadly toggle the gripper (or use "open"/"close" actions)
ros2 run pymoveit2 ex_gripper.py --ros-args -p action:="toggle"
# Example of using MoveIt 2 Servo to move the end-effector in a circular motion
ros2 run pymoveit2 ex_servo.py

Directory Structure

The following directory structure is utilised for this package.

.
├── examples/              # [dir] Examples demonstrating the use of `pymoveit2`
├── pymoveit2/             # [dir] ROS 2 launch scripts
    ├── robots/            # [dir] Presets for robots (data that can be extracted from URDF/SRDF)
    ├── gripper_command.py # Interface for Gripper that is controlled by GripperCommand
    ├── moveit2_gripper.py # Interface for MoveIt 2 Gripper that is controlled by JointTrajectoryController
    ├── moveit2_servo.py   # Interface for MoveIt 2 Servo that enables real-time control in Cartesian Space
    └── moveit2.py         # Interface for MoveIt 2 that enables planning and execution of trajectories
├── CMakeLists.txt         # Colcon-enabled CMake recipe
└── package.xml            # ROS 2 package metadata

leander-dsouza/pymoveit2