ign_moveit2_examples

C++ and Python examples of using MoveIt 2 for planning motions that are executed inside Ignition Gazebo simulation environment. These examples make use of ros2_control via ign_ros2_control.

For legacy approach using JointTrajectoryController Ignition plugin, please see legacy_jtc_ign_plugin branch.


Follow Target	Throw Object

At the time of writing these, there are no official Python bindings for MoveIt 2. Therefore, pymoveit2 module is employed as the MoveIt 2 interface in all Python examples.

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
- 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

Additional dependencies for pymoveit2 and robot models are listed under ign_moveit2_examples.repos and pulled via git during installation. Please, see instructions below.

Building

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

# Clone this repository into your favourite ROS 2 workspace
git clone https://github.com/AndrejOrsula/ign_moveit2_examples.git
# Import additional git dependencies
vcs import < ign_moveit2_examples/ign_moveit2_examples.repos
# 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 ${IGN_MOVEIT2_EXAMPLES_WS_DIR}/install/local_setup.bash

This enables:

Execution of scripts and examples via ros2 run ign_moveit2_examples <executable>
Launching of setup scripts via ros2 launch ign_moveit2_examples <launch_script>
Discoverability of shared resources

Examples

In order to run any of the included examples, just launch the corresponding script.

Follow Target

# C++
ros2 launch ign_moveit2_examples ex_cpp_follow_target.launch.py
# Python
ros2 launch ign_moveit2_examples ex_py_follow_target.launch.py

Throw Object

# Python
ros2 launch ign_moveit2_examples ex_py_throw_object.launch.py

Directory Structure

.
├── examples/                      # [dir] Nodes used for examples
    ├── cpp/                       # [dir] C++ nodes
    └── py/                        # [dir] Python nodes
├── launch/                        # [dir] Launch scripts for examples
    ├── robots/                    # [dir] Launch scripts that spawn robots into environment
    ├── worlds/                    # [dir] Launch scripts that setup the environment
    ├── default.launch.py          # Default launch script used by all edxamples
    ├── ex_cpp_*.launch.py         # C++ launch scripts
    └── ex_py_*.launch.py          # Python launch scripts
├── rviz/ign_moveit2_examples.rviz # RViz2 config for motion planning with MoveIt 2
├── worlds/                        # [dir] World descriptors
├── CMakeLists.txt                 # Colcon-enabled CMake recipe
└── package.xml                    # ROS 2 package metadata

taichiH/ign_moveit2_examples