README

rp_moveit_commander

This package implements node responsible for commanding the moveit2 stack.

Planning strategies

Strategy name	Planning Space	Planner	Single target	Sequence of targets
Joint Space Planning	Joint Space	isaac_ros_cumotion	✅	🔴
Cartesian Space Planning	Cartesian Space	pilz_industrial_motion_planner	✅	✅
Cartesian Interpolation Planning	Cartesian Space	MoveIt’s built-in capability CartesianInterpolator	✅	✅

Config files

• moveit_commander.yaml - Node main config file

Launch files

• moveit_commander.launch.py - Launch node and define arguments

  • namespace (Default: robotic_platform) - Namespace of launched components.

  • use_sim_time (Default: False) - Use simulation clock.

  • log_level (Default: info) - Logging severity level.

  • hardware (Default: real) - Hardware interaction type.

Nodes

moveit_commander_node

At this stage of development, node supports following the pose received on the topic. Pose must be specified with frame ID to transform to manipulator base.

Action Servers

• /namespace/move_to_pose rp_msgs/action/MoveToPose - Plan and execute trajectory to desired pose.

Note: This node incorporates moveit-specific ROS interface defined in MoveGroupInterface. Not listed here.

ROS Parameters

Please refer to parameters.md file.

Note: In order to update parameters.md file, got to package directory and use command: generate_parameter_library_markdown --input_yaml src/moveit_commander_node_params.yaml --output_markdown_file docs/parameters.md.