4. Moveit demos
Here we showcase a small overview of the demo.launch files that use the Moveit config package for this project. This demos allow the use of the Moveit motion planning framework using a GUI plugin in RViz, you can command a desired goal (in terms of Cartesian pose or joint space goal) to the robot using an interactive marker, the request to Moveit thee motion planning and execution of that desired goal.
Note: Once again, this is something that the Moveit and ROS developers have covered completely with tutorials and guides, here we just show how it was made/implemented for this specific project, so if you want to cover this more in depth, refer to the Moveit RViz Plugin Tutorial.
Just like the initial bringups, we have tow demos to use de Moveit RViz plugin, one where only the robot description is loaded and visualized in RViz, and the other in Gazebo, where the configured joint controllers are used an also the robot con interact with physics objects.
As the title says, this launch file provides and RViz bringup which loads the robot description, the Moveit required components for the robot motion planning like the planning_context.launch and the move_group.launch. This demo is executed running the following command:
roslaunch irb140_moveit_bin_pick demo.launch.
An RViz window will load up with the robot and the Moveit plugin, to move the robot just use the interactive marker and request a Plan&Execute task in the Planning tab.
The interactive marker is placed in the last link of the planning group defined in the previous Moveit configuration process, in this case, in the
tcp_link.
This launch file is generated by the Moveit Setup Assistant itself, the specific file of this project has some minor modifications, but is pretty close to the original one.
Here the use of the Moveit Plugin is the same regarding the interactive marker and the Plan/Exec request, the key difference is that with the robot being simulated in Gazebo with its previously configured joint controllers, Moveit has to publish the joint position messages to the controller topic and also read the joints states published by the controller. This launch file is executed with the command roslaunch irb140_moveit_bin_pick demo_gazebo.launch
Besides allowing to use Moveit on a simulated robot that can interact with physics objects, the demo also provides and insight on the behavior of Moveit with real robots, this feature only requires some minor changes to the Moveit configured package, we will cover this in other page of this wiki.
This plugin is useful for testing several things regarding the robot and the motion related things, however, we can expect to give commands manually as its done with the interactive marker. In the next page we will se the moveit_commander made for this package which will allow the use of the Moveit framework using C++ and Python code.
