MoveIt 2
Important
This tutorial is only supported on Linux ROS2 Humble.
Learning Objectives
This tutorial is supplementary to the Tutorials provided on the MoveIt Humble website.
Getting Started
Important
Make sure to source your ROS 2 installation from the terminal before running Isaac Sim. If sourcing ROS 2 is a part of your bashrc
then Isaac Sim can be run directly.
Prerequisite
Complete ROS and ROS 2 Installation.
Set the
FASTRTPS_DEFAULT_PROFILES_FILE
environment variable per instructions in ROS and ROS 2 Installation before launching Isaac Sim, as well as any terminal where ROS messages will be sent or received, and ROS2 Extension is enabled.
Running MoveIt 2 Tutorial in Docker
Follow the instructions on the MoveIt Humble website to clone the repo, build the docker, and launch both Isaac Sim and Moveit via Python scripts.
Once Rviz is launched, you can start playing with the planner. Under
Planning Group
, thehand
option should be selected. UnderGoal State
, selectopen
.Under
Commands
, clickPlan
. The planned movement of the hand will now be visualized.Click
Execute
. The hand will start moving as planned earlier.To plan the movement for the arm, under
Planning Group
, selectpanda_arm
. Use the displayed arrows and rotation disks to set a goal position for the robot. Alternatively you can choose to select<random_valid>
underGoal State
.Under
Commands
, click onPlan
followed byExecute
to visualize the planned motion of the arm and then move it!
TroubleShooting
If your Rviz window is showing a black screen for where the robot should be, you may need to update your mesa driver. Add the following commands to moveit2_tutorials/doc/how_to_guides/isaac_panda/.docker/Dockerfile
after line 17.
# update mesa driver
RUN apt update && apt install -y software-properties-common && add-apt-repository ppa:kisak/kisak-mesa && apt install -y mesa-utils
RUN apt -y upgrade
Summary
Tips for running MoveIt2’s Isaac Sim tutorial.
Next Steps
Continue on to the next tutorial in our ROS2 Tutorials series, ROS 2 Generic Publisher and Subscriber to learn how to publish and subscribe to and from any ROS 2 topic.
Further Learning
Learn more about MoveIt 2.