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Agiblebot Robot ROS2 Project

MoveIt Demo

Introduction

This project uses the MoveIt Setup Assistant to generate MoveIt2 configuration files for the robot.

For operation instructions, please refer to: https://moveit.picknik.ai/main/doc/examples/setup_assistant/setup_assistant_tutorial.html#step-1-start

Dependencies

• ROS2 Humble
• RViz2
• MoveIt2
• Gazebo

Usage Instructions

Preparation

1. Copy this folder to the src directory of your ROS workspace.
2. Also, copy the gbt_description folder to the src directory of your ROS workspace.
3. If you want to launch Gazebo, copy the gbt_gazebo folder to the src directory of your ROS workspace.

Build

cd {your ROS2 workspace}
colcon build
source install/setup.bash

Launch MoveIt2 Configuration

ros2 launch {robot_model}_moveit_config demo.launch.py

For example:

ros2 launch c5a_moveit_config demo.launch.py

Launch MoveIt2 + Gazebo Simulation

Terminal 1: Launch Gazebo simulation

source install/setup.bash
ros2 launch {robot_model}_moveit_config gazebo.launch.py

For example:

source install/setup.bash
ros2 launch c5a_moveit_config gazebo.launch.py

Terminal 2: Launch MoveIt2 motion planning

source install/setup.bash
ros2 launch {robot_model}_moveit_config gazebo_moveit_rviz.launch.py

For example:

source install/setup.bash
ros2 launch c5a_moveit_config gazebo_moveit_rviz.launch.py

Examples

MoveIt

Gazebo

MoveIt + Gazebo

Future Development Plans

• Add MoveIt2 configuration files for robots

  • GBT-C5A series robotic arm
  • GBT-C12A series robotic arm
  • Additional collaborative robot models

• Support for more robotic arm types

  • Puma series robotic arms (e.g., GBT-P7B series)
  • Scara series robotic arms (e.g., GBT-S3A series)

Troubleshooting

• If MoveIt2 planning fails, check the terminal output for errors and try adjusting the target position.
• If MoveIt2 execution fails, check if the controller name configuration in config/ros2_controller.yaml matches the setup in the launch file.

License

This project is licensed under the BSD-3-clause License.