HI everyone,

i installed MoveIt 2 the binary way on Ros2 Humble. UNfortunatly when i tried to run the following code i get an error that the moveit module cannot be found.

I would be really grateful if you could help

Code of my ros2 node:

#!/usr/bin/env python3
import rclpy
from rclpy.node import Node
from geometry_msgs.msg import Pose, PoseStamped

from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint

from moveit.planning import MoveItPy
from moveit.core.robot_state import RobotState 

class Ur10TopicJoints(Node):
    def __init__(self):
        super().__init__('PPV2')
        self.subscriber = self.create_subscription(Point, '/tcp', self.tcpCallback, 10)
        self.publischer = self.create_publisher(JointTrajectory, '/joint_trajectory_controller/joint_trajectory', 10)
        self.get_logger().info(f"[HINWEIS] PPV2 ist gestartet...")



        ur = MoveItPy(node_name="moveit_py")
        ur_arm = ur.get_planning_component("ur_manipulator")
        ur_state = RobotState(ur.get_robot_model())

        self.tcpCallback()

    def tcpCallback(self):
        x = float(input(f"Bitte x-Ziel-Koordiante eingeben: "))
        y = float(input(f"Bitte y-Ziel-Koordiante eingeben: "))
        z = float(input(f"Bitte z-Ziel-Koordiante eingeben: "))

        jointTraj = self.tcpToJointTraj(x, y, z)


        self.publischer.publish(jointTraj)
        self.get_logger().info(f'Gelenkwinkel gesendet: {jointTraj}')

    def tcpToJointTraj(self, x, y, z):
        pose = PoseStamped()
        pose.header.frame_id = "wrist_3_link"
        pose.position.x = x
        pose.position.y = y
        pose.position.z = z
        pose.orientation.w = 1.0


        jointTraj = JointTrajectory()
        jointTraj.header.stamp = self.get_clock().now().to_msg()
        jointTraj.joint_names = self.ur.get_joint_names()

        self.ur_arm.set_start_state_to_current_state()
        self.ur_arm.set_goal_state(pose_stamed_msg=pose, pose_link="wrist_3_link")

        #Berechnung der inversen Kinematik für die eben erstellte Pose
        plan = self.ur.plan()

        if plan is not None:
            self.get_logger().info('Executing Plan')
            self.ur.execute(plan)

            jointPos = self.ur_state.get_current_joint_values() 

            trajPnt = JointTrajectoryPoint()
            trajPnt.positions = jointPos

            jointTraj.points.append(trajPnt)

            return jointTraj

        else:
            self.get_logger().info('Planning failed')


def main(args=None):
    rclpy.init(args=args)
    node = Ur10TopicJoints()
    rclpy.spin(node)
    rclpy.shutdown()

if __name__ == '__main__':
    main()

Terminal Error:

ubuntu@ubuntu:~/Schreibtisch/ros2_ws$ ros2 run ur10_faps_driver Ur10TopicJoints
Traceback (most recent call last):
  File "/home/ubuntu/Schreibtisch/ros2_ws/install/ur10_faps_driver/lib/ur10_faps_driver/Ur10TopicJoints", line 33, in <module>
    sys.exit(load_entry_point('ur10-faps-driver==0.0.0', 'console_scripts', 'Ur10TopicJoints')())
  File "/home/ubuntu/Schreibtisch/ros2_ws/install/ur10_faps_driver/lib/ur10_faps_driver/Ur10TopicJoints", line 25, in importlib_load_entry_point
    return next(matches).load()
  File "/usr/lib/python3.10/importlib/metadata/__init__.py", line 171, in load
    module = import_module(match.group('module'))
  File "/usr/lib/python3.10/importlib/__init__.py", line 126, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
  File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
  File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
  File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
  File "<frozen importlib._bootstrap_external>", line 883, in exec_module
  File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
  File "/home/ubuntu/Schreibtisch/ros2_ws/install/ur10_faps_driver/lib/python3.10/site-packages/ur10_faps_driver/Ur10TopicJoints.py", line 8, in <module>
    from moveit.planning import MoveItPy
ModuleNotFoundError: No module named 'moveit.planning'
[ros2run]: Process exited with failure