panda_ign_moveit2

Software packages for Franka Emika Panda that enable manipulation with MoveIt 2 inside Ignition Gazebo. For control, gz_ros2_control is used.

Overview

This branch targets ROS 2 galactic and Gazebo fortress.

Below is an overview of the included packages, with a short description of their purpose. For more information, please see README.md of each individual package.

• panda – Metapackage
• panda_description – URDF and SDF description of the robot
• panda_moveit_config – MoveIt 2 configuration for the robot

Instructions

Dependencies

These are the primary dependencies required to use this project.

• ROS 2 Galactic
• Gazebo Fortress

All additional dependencies are either pulled via vcstool (panda_ign_moveit2.repos) or installed via rosdep during the building process below.

Building

Clone this repository, import dependencies, install dependencies and build with colcon.

# Clone this repository into your favourite ROS 2 workspace
git clone https://github.com/AndrejOrsula/panda_ign_moveit2.git
# Import dependencies
vcs import < panda_ign_moveit2/panda_ign_moveit2.repos
# Install dependencies
IGNITION_VERSION=fortress rosdep install -y -r -i --rosdistro ${ROS_DISTRO} --from-paths .
# Build
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"

Sourcing

Before utilising this package, remember to source the ROS 2 workspace.

source install/local_setup.bash

This enables:

• Execution of binaries, scripts and examples via ros2 run panda_* <executable>
• Launching of setup scripts via ros2 launch panda_* <launch_script>
• Discoverability of shared resources