panda_moveit_config

panda_moveit_config

MoveIt configuration for Franka Emika Panda.

Instructions

move_group

In order to configure and setup move_group of MoveIt 2 to plan motions inside a simulation (real robot is not yet supported), move_group.launch.py script can be launched or included in another launch script.

ros2 launch panda_moveit_config move_group.launch.py <arg_i>:=<val_i>

To see all arguments, please use ros2 launch --show-args panda_moveit_config move_group.launch.py.

SRDF

For SRDF, panda.srdf.xacro is the primary descriptor that includes all other xacros and creates a configuration based on the passed arguments. To generate SRDF out of xacro, you can use the included xacro2srdf.bash script and modify its arguments as needed. Once executed, panda.srdf will automatically be replaced. Alternatively, xacro panda.srdf.xacro name:="panda" <arg_i>:=<val_i> ... can be executed directly, e.g. this is preferred within any launch script.

Examples

fake_control

To see if everything works in an isolated environment, try using ex_fake_control.launch.py script that allows planning motions with MoveIt 2 and executing them with fake controllers inside RViz2.

ros2 launch panda_moveit_config ex_fake_control.launch.py

ign_control

For example inside Gazebo, try using ex_ign_control.launch.py script that allows planning motions with MoveIt 2 and executing them with simulated controllers.

ros2 launch panda_moveit_config ex_ign_control.launch.py

Directory Structure

The following directory structure is utilised for this package.

.
├── config/                            # [dir] Configuration files for MoveIt 2
    ├── controllers_*.yaml             # Configuration of ROS 2 controllers for different command interfaces
    ├── joint_limits.yaml              # List of velocity and acceleration joint limits
    ├── kinematics.yaml                # Configuration for the kinematic solver
    ├── moveit_controller_manager.yaml # List of controllers with their type and action namespace for use with MoveIt 2
    ├── ompl_planning.yaml             # Configuration of OMPL planning and specific planners
    └── servo.yaml                     # Configuration for moveit_servo
├── launch/                            # [dir] ROS 2 launch scripts
    ├── ex_fake_control.launch.py      # Launch script virtual motion planning and execution inside RViz2
    └── move_group.launch.py           # Launch script for configuring and setting up move_group of MoveIt 2
├── rviz/moveit.rviz                   # RViz2 config for motion planning with MoveIt 2
├── scripts/                           # [dir] Additional useful scripts
├── srdf/                              # [dir] SRDF description (xacros)
    ├── panda_arm.xacro                # Macro for SRDF portion of Franka Emika Panda arm
    ├── panda_gripper.xacro            # Macro for SRDF portion of Franka Emika Panda gripper
    ├── panda.srdf                     # SRDF generated from `panda.srdf.xacro`
    └── panda.srdf.xacro               # The primary xacro of the robot that combines both arm and gripper
├── CMakeLists.txt                     # Colcon-enabled CMake recipe
└── package.xml                        # ROS 2 package metadata