MoveIt2 with ROS2 Humble (Moveit_py Python API)

🔹 This repository demonstrates how to use MoveIt2 with ROS2 Humble via the moveit_py interface.
🔹 If you have all the hardware and want to use the full functionality, you should complete the optional steps.

Table of Contents

• 1. Install MoveIt2 with Moveit_py ⚡
• 2. Example: MoveIt_py for UR Robots ⚡
• 3. UR Robot Driver & MoveIt2 Launch (Optional) ⚡
• 4. Intel Realsense ROS2 Configuration (Optional) ⚡
• 5. DH Gripper ROS2 Configuration (Optional) ⚡
• 6. One-Command Launch (Optional) ⚡

---

1. Install MoveIt2 with Moveit_py ⚡

🔹 Follow these steps to set up MoveIt2 in your ROS2 Humble:

# Create workspace and clone MoveIt2
mkdir -p ~/moveit2_ws/src && cd ~/moveit2_ws/src
git clone https://github.com/moveit/moveit2.git 
cd moveit2

# Checkout pull request for moveit_py in ROS2 Humble
git fetch origin pull/3487/head:pr-3487
git checkout pr-3487

🛠️ Build the workspace:

cd ~/moveit2_ws
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

# Add MoveIt2 to bashrc
echo "source ~/moveit2_ws/install/setup.sh" >> ~/.bashrc
source ~/.bashrc

💡 Tip: Now you can use the moveit_py Python API to control your robots via move_group.

---

2. Example: MoveIt_py for UR Robots ⚡

Follow these steps to try an example with a UR robot:

# Create workspace and clone example
mkdir -p ~/ur_ws/src && cd ~/ur_ws/src
git clone https://github.com/scy-v/ur_moveitpy_ros2.git

# Build workspace
cd ~/ur_ws
colcon build --symlink-install

# Add ur_ws to bashrc
echo "source ~/ur_ws/install/setup.sh" >> ~/.bashrc

✅ Launch the example (if you have configured the UR Robot):

ros2 launch ur_manipulation ur_demo.launch.py

💡 Tip: You can refer to the Python scripts ur_demo.py or movepy_template.py inside ur_manipulation for MoveIt_py usage.

---

3. UR Robot Driver & MoveIt2 Launch (Optional) ⚡

If you want to control the real UR robot, follow these steps:

cd ~/ur_ws/src
git clone -b humble https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git

# Optional dependencies
sudo apt update
sudo apt install python3-vcstool

# Import repositories
vcs import < Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver.humble.repos

# Build workspace
cd ~/ur_ws
colcon build --symlink-install

✅ Launch the real UR robot in Rviz using MoveIt2:

ros2 launch ur_robot_driver <ur_type>.launch.py robot_ip:=<robot_ip> launch_rviz:=false
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=<ur_type> launch_rviz:=true

---

4. Intel Realsense ROS2 Configuration (Optional) ⚡

If you want to use the Realsense camera (e.g., D435i) with ROS2:

1. Install Realsense SDK first.
2. Clone the ROS2 package:

cd ~/src
git clone -b ros2-master https://github.com/IntelRealSense/realsense-ros.git
colcon build --symlink-install

✅ Launch the Realsense camera from rs_ros2 package:

ros2 launch rs_ros2 realsense_launch.py

✅ Eye-to-hand calibration (compute pose between camera and robot):

ros2 launch rs_ros2 eye2hand.launch.py

---

5. DH Gripper ROS2 Configuration (Optional) ⚡

To use the DH Gripper with ROS2:

# Launch DH Gripper from dh_gripper_ros2 package
ros2 launch dh_gripper_ros2 dh_gripper.launch.py

---

6. One-Command Launch (Optional) ⚡

Once all optional setups are complete, you can start everything with a single command:

cd <ur_sh_folder>
bash start_ur.sh

💡 Tip: Make sure all required hardware and configurations are ready before running this command.

Acknowledgements ⚡

This moveit_py interface for ROS2 Humble references and builds upon Pull Request #3487 from the MoveIt2 repository. Many thanks to the contributors for their work and ideas.