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What is the current proper procedure to setup a new robotic arm in MoveIt2?

asked 2021-06-03 02:31:49 -0500

Afif Swaidan gravatar image

I have good experience with ROS1 and MoveIt and now I am porting all my work into ROS2, Although the porting progress from moveit to moveit2 is now 95%, Unfortunately I figured out that the movit_setup_assistant is not yet available in ROS2 and moveit2. Thus, what is the proper way to setup a new robotic arm for moveit2? Thanks in advance!

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answered 2021-07-01 07:56:04 -0500

jafar_abdi gravatar image

That's very unfortunate, I would recommend you looking at run_move_group to see how to launch the move group node + RViz2 & panda_moveit_config to see how the config files have changed, let me know if I can help you more

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Hello, thanks for replying! So what is the way that you recommend to setup a new robot on moveit2?, use setup assistant in moveit and then modify the config files to match the ros2 and moveit2 requirments? or is there a better/cleaner/faster way to setup a new robot arm on moveit2? Thank you!

Afif Swaidan gravatar image Afif Swaidan  ( 2021-07-01 13:32:06 -0500 )edit
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use setup assistant in moveit and then modify the config files to match the ros2 and moveit2 requirments?

Yes, exactly, this's what I would recommend you to do, we're planning to port moveit setup assistant soon

jafar_abdi gravatar image jafar_abdi  ( 2021-07-01 15:44:30 -0500 )edit

Aha alright I got your point! Actually I don't mind to contribute to the porting process. if you want we can get more in touch since I already tried few stuff on the setup assistant source code directly.

Afif Swaidan gravatar image Afif Swaidan  ( 2021-07-01 15:48:22 -0500 )edit

I don't mind to contribute to the porting process.

That would be great, do you mind opening an issue here https://github.com/ros-planning/movei... about contributing to the port, I'll add you to the weekly moveit2 stand-up so we can coordinate the port togather

jafar_abdi gravatar image jafar_abdi  ( 2021-07-02 08:16:40 -0500 )edit

Okay sure, I'm on it! Thanks!

Afif Swaidan gravatar image Afif Swaidan  ( 2021-07-08 15:41:06 -0500 )edit

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Asked: 2021-06-03 02:31:49 -0500

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Last updated: Jul 01 '21