{"id":51132927,"url":"https://github.com/PickNikRobotics/moveit_studio_sdk","last_synced_at":"2026-07-13T21:00:48.032Z","repository":{"id":185422702,"uuid":"664794959","full_name":"PickNikRobotics/moveit_studio_sdk","owner":"PickNikRobotics","description":"Public mirror of the MoveIt Pro 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Motion Planning \u0026 Navigation"],"sub_categories":[],"readme":"# MoveIt Pro SDK\n\nThis repository provides an SDK that can be used with MoveIt Pro.\nThe SDK can be used in the MoveIt Pro Agent container, or separately on a ROS 2 enabled system.\nTo test using the SDK and MoveIt Pro separately, take a look at the Docker setup below.\n\nThe full documentation for MoveIt Pro and the MoveIt Pro SDK is hosted at https://docs.picknik.ai/en/stable/index.html.\n\n## Docker setup for testing the MoveIt Pro SDK in a separate container\n\nThe Docker workflow outlined here provides a way to test the MoveIt Pro SDK in isolation from MoveIt Pro.\n\nFirst, build the image if you haven't already.\nThis image will install the MoveIt Pro SDK for you:\n\n```\ndocker compose build\n```\n\nStart MoveIt Pro if it isn't running already, making note of the `ROS_DOMAIN_ID` that's being used.\nThe MoveIt Pro SDK Docker image being used here expects MoveIt Pro to use the default Cyclone DDS configuration.\n\nNext, set the `ROS_DOMAIN_ID` environment variable in the terminal where you plan to start the MoveIt Pro SDK container.\nThe `ROS_DOMAIN_ID` being set here should match the `ROS_DOMAIN_ID` you are using for MoveIt Pro.\n\nOnce the Docker image is built and the `ROS_DOMAIN_ID` is set, start a container:\n\n```\ndocker compose run --rm moveit_studio_sdk_standalone\n```\n\nYou should now be at a terminal inside of the SDK container.\nTo ensure that the SDK container can communicate with MoveIt Pro, run:\n\n```\nros2 service list\n```\n\nYou should see a list of MoveIt Pro services.\n\nLet's now test the SDK to see if we can execute and cancel MoveIt Pro Objectives.\nThere are two example scripts provided:\n* `start_blocking.py`: starts an Objective and waits until the Objective finishes execution.\n* `start_stop_async.py`: starts an Objective, waits for a user-defined number of seconds, and then cancels the running Objective.\n\nTo run the `Open Gripper` Objective, let's use `start_blocking.py` since this Objective shouldn't take long to complete:\n\n```\nros2 run moveit_studio_py start_blocking.py \"Open Gripper\"\n```\n\nTo run the `3 Waypoints Pick and Place` Objective, let's use `start_stop_async.py` since this Objective runs indefinitely.\nWe will let this Objective run for 10 seconds:\n\n```\nros2 run moveit_studio_py start_stop_async.py \"3 Waypoints Pick and Place\" 10\n```\n\nIf you look at the `Objectives` tab in the web app, you should see these Objectives starting and stopping successfully.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FPickNikRobotics%2Fmoveit_studio_sdk","html_url":"https://awesome.ecosyste.ms/projects/github.com%2FPickNikRobotics%2Fmoveit_studio_sdk","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FPickNikRobotics%2Fmoveit_studio_sdk/lists"}