Introduction to MoveIt with Rviz
Вставка
- Опубліковано 4 жов 2024
- #Moveit #motionplanning #Robotics
0:07 Introduction to moveit
0:45 Installation
1:36 Example of moveit in Rviz
3:00 Workspace
3:28 Setup start and end
4:20 Null space motion
4:55 Planner
5:44 Trajectory trace
Installation page:
ros-planning.g...
Command to run the example:
roslaunch panda_moveit_config demo.launch rviz_tutorial:=true
To first start with moveIt, first create A Catkin Workspace and Download MoveIt Source.
Because the version of the tutorials uses the master branch which is being actively developed, you will most likely need to build all of MoveIt from source. You will need to have a catkin workspace setup.
You can follow the below steps to perform the same:
mkdir -p ~/ws_moveit/src
cd ~/ws_moveit/src
wstool init .
wstool merge -t . raw.githubuser...
wstool remove moveit_tutorials # this is cloned in the next section
wstool update -t .
Next we show how to get started with moveIt in RViz. This tutorial will quickly get you motion planning using MoveIt via RViz and the MoveIt plugin. Rviz is the primary visualizer in ROS and an incredibly useful tool for debugging robotics. The MoveIt Rviz plugin allows you to setup virtual environments (scenes), create start and goal states for the robot interactively, test various motion planners, and visualize the output.
Step 1: Launch the Demo and Configure the Plugin
Launch the demo:
roslaunch panda_moveit_config demo.launch rviz_tutorial:=true
If you are doing this for the first time, you should see an empty world in RViz and will have to add the Motion Planning Plugin:
Once you have the Motion Planning Plugin loaded, we can configure it. In the “Global Options” tab of the “Displays” subwindow, set the Fixed Frame field to /panda_link0
Now, you can start configuring the Plugin for your robot (the Panda in this case). Click on “MotionPlanning” within “Displays”.
Make sure the Robot Description field is set to robot_description.
Make sure the Planning Scene Topic field is set to move_group/monitored_planning_scene. Click on topic name to expose topic-name drop-down.
Make sure the Trajectory Topic under Planned Path is set to /move_group/display_planned_path.
In Planning Request, change the Planning Group to panda_arm. You can also see this in the MotionPlanning panel in the bottom left.
Step 2: Play with the Visualized Robots
There are four different overlapping visualizations:
The robot’s configuration in the move_group/monitored_planning_scene planning environment (active by default).
The planned path for the robot (active by default).
Green: The start state for motion planning (disabled by default).
Orange: The goal state for motion planning (active by default).
The display states for each of these visualizations can be toggled on and off using checkboxes:
Step 3: Interact with the Panda
For the next steps we will want only the scene robot, start state and goal state:
Check the Show Robot Visual checkbox in the Planned Path tab
Un-check the Show Robot Visual checkbox in the Scene Robot tab
Check the Query Goal State checkbox in the Planning Request tab.
Check the Query Start State checkbox in the Planning Request tab.
There should now be two interactive markers. One marker corresponding to the orange colored arm will be used to set the “Goal State” for motion planning and the other marker corresponding to a green colored arm are used to set the “Start State” for motion planning. If you don’t see the interactive markers press Interact in the top menu of RViz (Note: some tools may be hidden, press “+” in the top menu to add the Interact tool as shown below).
Step 4: Use Motion Planning with the Panda
Now, you can start motion planning with the Panda in the MoveIt RViz Plugin.
Move the Start State to a desired location.
Move the Goal State to another desired location.
Make sure both states are not in collision with the robot itself.
Make sure the Planned Path is being visualized. Also check the Show Trail checkbox in the Planned Path tab.
In the MotionPlanning window under the Planning tab, press the Plan button. You should be able to see a visualization of the arm moving and a trail.
Choosing Specific Start/Goal States
The Planning tab lets you choose start and goal states for a planning request for your robot from these options:
The current state
The previous state
A randomly sampled state
Or a named state of the selected planning group, as defined in the .srdf file of the robot.
Previous refers to the start state of the previous planning attempt. Thus, selecting previous as the goal state after execution of a planned motion path allows you to move back to the previous robot pose easily. As, both the current and the previous start/goal states are automatically updated after execution, you can easily move back and forth between two states.
Thanks, this video companion to the tutorial is helpful to have!
💯
Insightful content, explained excellently
Glad you liked it
thank you for the great tutorials!
Hello, I do have a question: how to see the end-effector's coordinate?
How do you add other environmental objects like tables , walls etc ?
Do you have plans on demonstrating path planning using MoveIt and a simple 6 DoF arm made of generic servo motors? That'd be really appreciable!
Yes we have a plan to run Moveit with Webots :)
Thanks for the comment ...
can we somehow replace the interactive marker with an absolute value, for example i want to +x just by pushing 'w' on my keypad?
how do i give (x, y, z) end effector target coordinates and the robot should reach there
do you know how can i give thew through terminal ?
Hello. I was trying to do the tutorial, followed the installation as it appeared in the moveit web, but when reviewing the planning groups, there is no 'hand' group, but there is a 'panda_hand'. There is no matter with that until i try to do the python interface tutorial, since it was done with the hand group. Do you know if there was any change with the panda_moveit_config and if so, do you know how to revert it?
Good question.
Not sure about it
Hi, what could be a problem if after launching demo rviz doesnt open?
I have the same question