panda_ign_moveit2

This package contains configuration for Franka Emika Panda that enables its manipulation with MoveIt 2 inside Ignition Gazebo. For control, ign_ros2_control is used.

Overview

Below is an overview of the included packages, with a small description of their purpose. For more information, please see README.md of each individual package.

panda_description – URDF and SDF description of the robot
panda_moveit_config – MoveIt 2 configuration for the robot

Instructions

Requirements

OS: Ubuntu 20.04 (Focal)
- Other distributions might work, but they were not tested.

Dependencies

These are the primary dependencies required to use this project.

ROS 2 Rolling
- Galactic should also work without any issues (not tested)
Ignition Fortress
- Citadel and Edifice should also work (not tested)
MoveIt 2
- Install/build a version based on the selected ROS 2 release

Furthermore, the following packages are required.

ros_ign
- Install/build a version based on the selected combination of ROS 2 release and Ignition version
ign_ros2_control
- Build a version based on the selected combination of ROS 2 release and Ignition version

Until ros2_controllers#225 is merged and released, ros2_controllers must be built from source in order to enable the use of effort command interface inside Ignition Gazebo.

AndrejOrsula/ros2_controllers:jtc_effort was tested and can be used for this purpose

Building

Clone this repository. Then install dependencies and build with colcon.

# Create workspace for the project (can be skippid)
mkdir -p panda_ws/src && cd panda_ws
# Clone this repository
git clone https://github.com/AndrejOrsula/panda_ign_moveit2.git src/panda_ign_moveit2
# Install external dependencies via rosdep
rosdep install -r --from-paths src --ignore-src --rosdistro ${ROS_DISTRO}
# Build with colcon
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 panda_ws/install/local_setup.bash

This enables:

Execution of scripts and examples via ros2 run panda_* <executable>
Launching of setup scripts via ros2 launch panda_* <launch_script>
Discoverability of shared resources