MoveIt Setup assistant for ROS 2

Hi everyone,
i am currently dealing with a simple pick and place operation and i do not have any issues.
I would like to integrate my robot (practically substitute panda), a comau racer 5.8. I’ve consulted all robots available and it does not appear in the list.
So now i would like to integrate with my URDF and SRDF description, in MoveIt tutorial i discovered that Moveit gives a moveit setup assistant to automatically produce config file… But i am not sure this tools is available or correct for ROS2 usage.
Hope someone more confident than me!
Enrico

Hi,

The moveit setup assistant is supported in ROS2 (MoveIt Setup Assistant - Merge the Feature branch by DLu · Pull Request #1254 · ros-planning/moveit2 · GitHub), take a look at MoveIt Setup Assistant — MoveIt Documentation: Humble documentation

Please let me know if you run into any issues!

4 Likes

Just to be extra pedantic - the setup assistant is available in ROS2 Humble - it’s not yet backported in any earlier ROS2 version (although there are some PRs working on back port to Foxy)

1 Like

The documentation for humble seems to be a copy paste from noetic without any changes. Is there ros2 docs somewhere?

I think you are right, need to install noetic and run it in parallel.

If you generate moveit config files in ROS 1 they are incompatible with ROS 2.

Maybe I misunderstood, and you think to run MoveIt on Noetic in parallel.

Still, if you can use docker you could generate configuration with Humble and then use it for Foxy. I don’t know on top of my head, but he changes should not be huge.

I’m not 100% sure that Foxy will load the configuration correctly (yet). There were some changes/fixes to the moveit_config_builder stuff, and I don’t know if that has been backported to Foxy (there were/are several PRs - not sure of their status).

As for documentation - the workflow is pretty similar to ROS1 (actually launching the setup tool obviously requires a different command since roslaunch is replaced by the ros2 command - but once you get the GUI up and go through the steps, the actual screens should look very similar to ROS1).

2 Likes