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stretch_tutorials/moveit_basics.md

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MoveIt! Basics

MoveIt! Without Hardware

To begin running MoveIt! on stretch, checkout to the feature/hybrid_planning branch and run the demo launch file.

cd ~/ament_ws/src/stretch_ros2
git checkout feature/hybrid_planning
cd ~/ament_ws
colcon build
ros2 launch stretch_moveit_config movegroup_moveit2.launch.py

This will brining up an RViz instance where you can move the robot around using interactive markers and create plans between poses. You can reference the bottom gif as a guide to plan and execute motion.

image

Additionally, the demo allows a user to select from the five groups, stretch_arm, stretch_gripper, stretch_head, mobile_base_arm and position to move. The option to change groups in the in Planning Request section in the Displays tree. A few notes to be kept in mind:

  • Pre-defined start and goal states can be specified in Start State and Goal State drop downs in Planning tab of Motion Planning RViz plugin.

  • stretch_gripper group does not show markers, and is intended to be controlled via the joints tab that is located in the very right of Motion Planning Rviz plugin.

  • When planning with stretch_head group make sure you select Approx IK Solutions in Planning tab of Motion Planning RViz plugin.

image

Running Gazebo with MoveIt! and Stretch

Next Tutorial: Follow Joint Trajectory Commands