https://github.com/andrejorsula/panda_gz_moveit2
Franka Emika Panda packages for manipulation with MoveIt 2 inside Gazebo
https://github.com/andrejorsula/panda_gz_moveit2
franka-panda gazebo gazebo-simulator moveit2 ros2-control sdf urdf
Last synced: 9 months ago
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Franka Emika Panda packages for manipulation with MoveIt 2 inside Gazebo
- Host: GitHub
- URL: https://github.com/andrejorsula/panda_gz_moveit2
- Owner: AndrejOrsula
- License: bsd-3-clause
- Created: 2020-10-28T12:16:00.000Z (over 5 years ago)
- Default Branch: master
- Last Pushed: 2025-04-24T15:30:01.000Z (about 1 year ago)
- Last Synced: 2025-05-02T23:03:43.198Z (about 1 year ago)
- Topics: franka-panda, gazebo, gazebo-simulator, moveit2, ros2-control, sdf, urdf
- Language: Python
- Homepage: https://app.ignitionrobotics.org/AndrejOrsula/fuel/models/panda
- Size: 6.96 MB
- Stars: 85
- Watchers: 5
- Forks: 29
- Open Issues: 9
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# panda_ign_moveit2
Software packages for Franka Emika Panda that enable manipulation with MoveIt 2 inside ~~Ignition~~ Gazebo. For control, [gz_ros2_control](https://github.com/ros-controls/gz_ros2_control) is used.
## Overview
This branch targets ROS 2 `galactic` and Gazebo `fortress`.
Below is an overview of the included packages, with a short description of their purpose. For more information, please see README.md of each individual package.
- [**panda**](./panda) – Metapackage
- [**panda_description**](./panda_description) – URDF and SDF description of the robot
- [**panda_moveit_config**](./panda_moveit_config) – MoveIt 2 configuration for the robot
## Instructions
### Dependencies
These are the primary dependencies required to use this project.
- ROS 2 [Galactic](https://docs.ros.org/en/galactic/Installation.html)
- Gazebo [Fortress](https://gazebosim.org/docs/fortress)
All additional dependencies are either pulled via [vcstool](https://wiki.ros.org/vcstool) ([panda_ign_moveit2.repos](./panda_ign_moveit2.repos)) or installed via [rosdep](https://wiki.ros.org/rosdep) during the building process below.
### Building
Clone this repository, import dependencies, install dependencies and build with [colcon](https://colcon.readthedocs.io).
```bash
# Clone this repository into your favourite ROS 2 workspace
git clone https://github.com/AndrejOrsula/panda_ign_moveit2.git
# Import dependencies
vcs import < panda_ign_moveit2/panda_ign_moveit2.repos
# Install dependencies
IGNITION_VERSION=fortress rosdep install -y -r -i --rosdistro ${ROS_DISTRO} --from-paths .
# 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.
```bash
source install/local_setup.bash
```
This enables:
- Execution of binaries, scripts and examples via `ros2 run panda_* `
- Launching of setup scripts via `ros2 launch panda_* `
- Discoverability of shared resources