https://github.com/pollen-robotics/reachy_moveit_config_ros2

Moveit2 configuration package for Reachy
https://github.com/pollen-robotics/reachy_moveit_config_ros2

Last synced: about 1 month ago
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Moveit2 configuration package for Reachy

• Host: GitHub
• URL: https://github.com/pollen-robotics/reachy_moveit_config_ros2
• Owner: pollen-robotics
• License: apache-2.0
• Created: 2021-09-13T08:53:54.000Z (over 3 years ago)
• Default Branch: main
• Last Pushed: 2021-09-13T10:54:40.000Z (over 3 years ago)
• Last Synced: 2024-11-06T08:12:37.738Z (3 months ago)
• Language: Python
• Size: 333 KB
• Stars: 2
• Watchers: 4
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# Reachy MoveIt config

Integration of the Reachy robot in MoveIt2 for ROS 2

![Reachy in RViz ROS Noetic](https://raw.githubusercontent.com/aubrune/reachy_moveit_config/master/doc/img/moveit.png)

## Getting started

### Install

1. Install [ROS2 Foxy](https://docs.ros.org/en/foxy/Installation.html) on top of [Ubuntu 20.04](https://ubuntu.com/download/desktop)

2. Install [MoveIt2](http://moveit2_tutorials.picknik.ai/doc/getting_started/getting_started.html#)

3. Configure [your ROS2 environment](https://docs.ros.org/en/foxy/Tutorials/Configuring-ROS2-Environment.html) so that you can sucessfully compile your ROS workspace (e.g. `~/ros2_ws`) with `colcon build` command

4. `cd ~/ros2_ws/src && git clone https://github.com/pollen-robotics/reachy_moveit_config_ros2`

5. `cd ~/ros2_ws/src && git clone https://github.com/pollen-robotics/reachy_description_ros2`

6. `cd ~/ros2_ws && colcon build --symlink-install`

7. `source ~/ros2_ws/install/setup.bash`

### Use

Just launch the regular MoveIt2 demo launch file:

```

ros2 launch reachy_moveit_config_ros2 demo.launch.py

```

Then pickup a group in the **Query Planning Group** from the **Motion Planning** panel (right arm, left arm or head) and move the blue ball appearing at the tip of the end effector to some goal pose. Then click **Plan and Execute** to plan a trajectory with obstacle avoidance and run it with fake trajectory controllers.