moveit2: configure the environment of the robot in ROS2

asked 2021-01-08 03:38:12 -0500

Danroy gravatar image

updated 2021-01-08 05:18:03 -0500

gvdhoorn gravatar image

Hallo everyone, i am currently trying to switch from ros1 to ros2. Therefore I was able to install the moveit2 package and to show and move the franka emika robot in rviz. I am currently trying to add the environment of the robot. In ROS 1 i used to change the urdf file, open up the setup assistant and load the urdf file. After doing that, the setup assistant created all the necessary file for moveit to run. But sadly the setup assistant doesn't work for now in ROS2. So is it possible to use ROS 1 / moveit 1 for creating the urdf file and passing it to the setup assistant? After that copying and pasting the urdf /(xacro) file as well as the created .srdf file right into the moveit2 package files? If that's not possible, how do i manage to change the environment in RVIZ? I hope you get my questions,

  • How can i modify the urdf/xacro package in the existing moveit2 package to display my existing environment?

I would really appreciate, if you guys can help me out and we are able to answer my question. If any further information or details are needed, please let me know.

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Hello, I am currently facing the same problem of how to properly setup a new robot for moveit2 if there is no setup_assistant yet. Did you manage to figure it out and create moveit2 packages for a custom or new robot?

Afif Swaidan gravatar image Afif Swaidan  ( 2021-06-03 03:13:20 -0500 )edit

i ended up using ros 1 for all robot related things and ros 2 for my devices and sensors. For the connection and communication of my messages in ROS 2 and ROS 1 im using the ros1_bridge package at the moment. Looks like moveit is still working on providing all the needed packages and documentations in ros 2 to set up a custom/new robot.

Danroy gravatar image Danroy  ( 2021-06-04 00:50:15 -0500 )edit

So correct me if I'm wrong. You are using moveit in ros1 for everything related to the robotic arm and only using ros2 for other stuff and connected everything with ros1_bridge. So you are not using moveit2 anymore? Thanks for replying!

Afif Swaidan gravatar image Afif Swaidan  ( 2021-06-04 15:55:35 -0500 )edit

Although actually 95% of moveit is already ported and migrated to ros2 but the setup assistant is still not ported to ros2 unfortunately.

Afif Swaidan gravatar image Afif Swaidan  ( 2021-06-04 15:57:27 -0500 )edit

And a year later it still isn't... Did any of you guys made any advances on this topic?

lukas3001 gravatar image lukas3001  ( 2022-07-29 03:21:16 -0500 )edit