MoveIt Setup Assistant

Prepare

cd
mkdir -p ws_moveit2/src
cd ws_moveit2/src
git clone -b jazzy https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git
cd ..
rosdep install -y --from-paths src --iry
colcon build --symlink-install
source install/setup.bash

Now look for src/Universal_Robots_ROS2_Description/urdf/ur.urdf.xacro

Warning: This setup is using UR robots instead of the Panda robot. Therefore, please replace panda with ur in the following instructions.

Overview

The MoveIt Setup Assistant is a GUI tool for configuring a robot for MoveIt. It generates a Semantic Robot Description Format (SRDF) file and other necessary configuration files. A URDF is required to use the Setup Assistant.

Once you have a URDF, import it into the Setup Assistant to configure kinematics, planning groups, end effectors, and collision checking.

Getting Started

MoveIt and ROS 2

• Install MoveIt if you haven’t already.

• Use the moveit_resources_panda_description package, included in your workspace after installation.

Step 1: Start

ros2 launch moveit_setup_assistant setup_assistant.launch.py

Click Create New MoveIt Configuration Package.

Browse to and load:

~/ws_moveit2/src/moveit_resources/panda_description/urdf/panda.urdf

Step 2: Generate Self-Collision Matrix

Set the sampling density and click Generate Collision Matrix.

View and modify results:

Step 3: Add Virtual Joints

• Joint Name: virtual_joint

• Child Link: panda_link0

• Parent Frame: world

• Type: fixed

For mobile robots, use planar or floating joints.

Step 4: Add Planning Groups

Arm Group

• Name: panda_arm

• Solver: kdl_kinematics_plugin/KDLKinematicsPlugin

Select joints from virtual_joint to panda_joint8:

Save group:

End Effector Group

• Name: hand

• Solver: None

• Links: panda_hand, panda_leftfinger, panda_rightfinger

Final group list:

Use Add Subgroup for compound groups (e.g., dual-arm systems).

Step 5: Add Robot Poses

Ready Pose for Arm

• Group: panda_arm

• Pose: ready

• Values: {0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785}

Open/Close Poses for Hand

• Group: hand

• open: 0.035

• close: 0.0

Only panda_finger_joint1 is shown as panda_finger_joint2 mimics it.

Final poses:

Step 6: Label End Effectors

• Name: hand

• Group: hand

• Parent Link: panda_link8

Step 7: Add Passive Joints

Skip this step for Panda. Use if robot has unactuated joints.

Step 8: ros2_control URDF Modification

Define command/state interfaces (default: position command; position + velocity states).

Step 9: ROS 2 Controllers

Panda Arm Controller

• Name: panda_arm_controller

• Type: joint_trajectory_controller/JointTrajectoryController

• Group: panda_arm

Hand Controller

• Name: hand_controller

• Type: position_controllers/GripperActionController

• Group: hand

Final list:

Step 10: MoveIt Controllers

Configure MoveIt interfaces to match ROS 2 controllers.

Arm

• Name: panda_arm_controller

• Type: FollowJointTrajectory

• Group: panda_arm

Hand

• Name: hand_controller

• Type: Gripper Command

• Group: hand

Final MoveIt controller list:

Step 11: Perception

Use this pane to define 3D sensors. Skip or choose None if not needed.

Example (for robots with cameras):

See Perception Pipeline tutorial.

Step 12: Launch Files

View generated launch files and their purposes.

Step 13: Add Author Information

Enter your name and email in the Author Information pane.

Step 14: Generate Configuration Files

Click Configuration Files, choose a location (e.g., ~/ws_moveit2/src/panda_moveit_config), and click Generate Package.

Build and Run the Demo

cd ~/ws_moveit2
colcon build --packages-select panda_moveit_config
source install/setup.bash

ros2 launch panda_moveit_config demo.launch.py

Watch the YouTube demo.