moveit2-introduction

Author: Huanyu Li

This is the docker template for MoveIt2 for UR10e robot tutorial and practice

Before build the docker

add this into your bashrc

if [ -f "/dev_ws/setup.bash" ]; then
    source /dev_ws/setup.bash
fi

Update the submodules from this repository.

git submodule update --init --recursive

How to build the container

To build the image.

.docker/build_image.sh

To run the image.

.docker/run_user.sh

You may need to change the owner of the dev_ws, copy the line showing on the terminal.

sudo chown -R [YOUR USER NAME] /dev_ws

Start a terminal

terminator

Launch moveit interface

To practice the motion planning in simulation.

ros2 launch ur_commander iaac_ur10e.launch.py sim:=true

To connect to the real robot at IAAC.

ros2 launch ur_commander iaac_ur10e.launch.py sim:=false

Apprarently the package support ompl and pilz planning pipeline only, you can use the argument to switch different algorithm.

ros2 launch ur_commander iaac_ur10e.launch.py sim:=true pipeline:=pilz