NOTE: ROS 2 tutorials are still under active development.
MoveIt! on Stretch
To run MoveIt with the actual hardware, (assuming
stretch_driver is already running) simply run
roslaunch stretch_moveit_config move_group.launch
roslaunch stretch_moveit_config moveit_rviz.launch
MoveIt! Without Hardware
To begin running MoveIt! on stretch, checkout to the feature/hybrid_planning branch and run the demo launch file.
cd ~/ament_ws/src/stretch_ros2 git checkout feature/hybrid_planning cd ~/ament_ws colcon build ros2 launch stretch_moveit_config movegroup_moveit2.launch.py
Additionally, the demo allows a user to select from the five groups, stretch_arm, stretch_gripper, stretch_head, mobile_base_arm and position to move. The option to change groups in the in Planning Request section in the Displays tree. A few notes to be kept in mind:
Pre-defined start and goal states can be specified in Start State and Goal State drop downs in Planning tab of Motion Planning RViz plugin.
stretch_gripper group does not show markers, and is intended to be controlled via the joints tab that is located in the very right of Motion Planning Rviz plugin.
When planning with stretch_head group make sure you select Approx IK Solutions in Planning tab of Motion Planning RViz plugin.