MoveIt Integration

This tutorial demonstrates how to use MoveIt to control the AgileBot robot in IsaacSim.

MoveIt Integration Demo

Overview

This example demonstrates how to use MoveIt to control the AgileBot robot with a gripper in IsaacSim. The gripper uses Robotiq open source URDF.

Principle

topic_based_ros2_control sends MoveIt planning results through specified topics and receives feedback from specified topics to achieve robot motion control.

Prerequisites

• Completed Isaac Sim Environment Configuration
• Installed ROS 2 Humble
• Installed MoveIt 2
• Configured ROS 2 with Python 3.11

ROS 2 Python 3.11 Configuration

Since ros2-humble uses Python 3.10 and IsaacSim uses Python 3.11, you need to configure ROS 2 with Python 3.11.

Reference: https://github.com/camopel/isaacsim-ros2-python3.11

Install Dependencies

sudo apt install ros-humble-topic-based-ros2-control

Quick Start Guide

Step 1: Add Project to ROS 2 Workspace

# Terminal 1
source /opt/ros/humble/setup.bash  # python3.10 ros2
cp -r isaacsim_moveit {your_workspace}/src
cd {your_workspace}/
colcon build
source install/setup.bash

Step 2: Launch MoveIt 2

ros2 launch gbt_gripper_moveit_config demo.launch.py

Step 3: Launch IsaacSim

# Terminal 2
source /opt/ros/humble_ws/install/setup.bash  # python3.11 ros2
cd ~/isaacsim
./isaac-sim.sh

Step 4: Load Scene in IsaacSim

1. Click File -> Open
2. Select the isaacsim_moveit folder in your workspace
3. Open ./gbt_c7a_moveit.usd
4. Click Play button to start simulation

Step 5: Control Robot

After completing the above steps, you can control the AgileBot robot in IsaacSim through MoveIt in RViz.

MoveIt Features

Feature	Description
Motion Planning	Plan trajectories from start to goal positions
Collision Detection	Detect collisions between robot and obstacles in the environment
Trajectory Optimization	Optimize trajectories for better performance
Perception Integration	Integrate sensor data for perception

Configuration Parameters

MoveIt Parameters

Parameter	Description	Default Value
planning_time	Planning time limit	5.0 s
num_planning_attempts	Number of planning attempts	10
planning_pipeline	Planning pipeline	ompl

Related Resources

• MoveIt 2 Official Documentation
• ROS 2 Documentation
• topic-based-ros2-control

Next Steps

• Pick and Place with Wrist Camera Example