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peterdavidfagan / moveit_py_example

A ROS2 package demonstrating use cases of moveit_py.
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ROS2 Humble Compatibility #3

Open kavikode opened 7 months ago

kavikode commented 7 months ago

How can we modify this repo to work with ROS2 Humble?

We'd like to perform motion planning for the Tiago robot simulation [link: https://github.com/pal-robotics/tiago_simulation] by specifying a goal state via a ROS message representing the pose goal.

Following the example in the link: https://moveit.picknik.ai/main/doc/examples/motion_planning_python_api/motion_planning_python_api_tutorial.html

Will you please provide an example of how to set and execute plan of a pose goal for the end effector of the Tiago robot in a MoveIt_PY node and a yaml configuration file that defines the associated parameters for the defined moveit_py node?

The tutorial is not helpful and is completely difficult to follow as a new ROS2 Humble developer. Can you please help with a small sample code?

Thank you!

peterdavidfagan commented 7 months ago

Hi @kavikode,

Thanks for reaching out and asking this question.

Have you seen the following repository. I haven't personally worked with the tiago robot but it looks like you can use the open-source moveit config files from the above repository.

To use these configs with the moveit2 python library you need to build a workspace with the python library and the config package for the tiago robot. When leveraging the Python API, will need to reference your robot description etc. for the tiago robot.

What is the current status of your progress? If you have code on GitHub I'd be happy to take a look. I don't have the capacity to create the workspace and opensource it right now. This being said feel free to open an issue on this repo asking for support for Tiago. I cannot guarantee a timeline or anything for supporting this robot but if there is an issue on this repo I can in future consider incorporating support for the Tiago robot.

Also I should archive this repository as it is outdated, nonetheless I am happy to help answer some of your questions here in the meantime. The repo I listed above where I suggested you open an issue for tiago support is actively maintained so I opening follow up issues there is appreciated.