Moveit Trajectory Planning

1. Usage Environment

Ubuntu 22.04

ROS2: Humble

2. Driving the Real Machine

Driving the real machine involves subscribing to Moveit2's /joint_states topic to convert the joint state information of the robotic arm into control data for the actual robotic arm.

Note: Since the real robotic arm lacks obstacle avoidance, some poses may encounter obstacles; therefore, the planned robotic arm movements should be as reasonable as possible and avoid locations with obstacles.

(It is recommended to use preset poses for demonstrating the real machine.)

2.1 Starting the Real Machine

Without driving the real machine, the robotic arm movements will be simulated and demonstrated in MoveIt:

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ros2 run dofbot_driver dofbot_driver

2.2 Starting MoveIt2

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ros2 launch dofbot_moveit demo.launch.py

3. Trajectory Planning

After the program runs, the robotic arm will plan the trajectory to the target position, and the robotic arm's end effector will draw the motion trajectory in RViz2.

3.1. Visualization

Before executing the launch command, you must add the MarkerArray plugin in RViz2 to display the planned path. For the MarkerArray, you need to select the arm_group topic.

3.2. Launch Command

Once the robotic arm has successfully loaded in MoveIt and the message You can start planning now! appears, run the following command: the robotic arm will automatically plot the trajectory of the planned path.

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ros2 run dofbot_moveit multi_track_motion