panda_gz_moveit2

A ROS 2 (Jazzy) simulation environment for the Franka Emika Panda robot arm, integrating Gazebo for physics simulation, MoveIt 2 for motion planning, and an overhead RGBD camera for tabletop perception and grasp planning.

Building and Running

Build the Docker image:

.docker/build.bash

Start the container:

.docker/run.bash

Launch the simulation (Gazebo + MoveIt 2 + RViz):

ros2 launch panda_moveit_config ex_gz_control.launch.py

Container Aliases

Alias	Command	Description
launch_ctrl	ros2 launch panda_moveit_config ex_gz_control.launch.py	Launch Gazebo + MoveIt 2 + RViz
launch_bt	ros2 run panda_moveit_config bt_pick_place.py	Run the behavior tree
build	colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"	Rebuild the ROS workspace

Labs

• Lab 01 — MoveIt 2 motion planning
• Lab 02 — Perception and grasping
• Lab 03 — Behavior tree pick-and-place