Introduction to MoveIt 2
Before starting programming MoveIt 2, let’s discuss its basic components and its architecture. Understanding the architecture of MoveIt 2 is crucial for effectively programming and interfacing a robot with the system. We will briefly review the architecture and key concepts of MoveIt before diving into robot interfacing and programming. You can explore the complete MoveIt 2 architecture on the MoveIt 2 website: https://moveit.picknik.ai/main/doc/concepts/concepts.html.
MoveIt 2 system architecture
The move_group
node is the core of MoveIt 2, integrating robot components and providing actions and services based on user commands. It retrieves robot data (such as kinematics) from URDF, SRDF, and configuration files. Once set up, users can command MoveIt 2 through C++, Python, or RViz2. The move_group
node connects functionalities via plugins, sending planned trajectories to the robot’s controllers through the FollowJointTrajectoryAction
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