Robot Motion Planning with MoveIt2

This section describes how to use MoveIt 2 for motion planning of Agilebot robots. MoveIt 2 is a ROS 2–based robot motion planning framework that integrates the following core features:

• Collision Detection: Avoids collisions with the environment and the robot itself in real time during planning
• Kinematics Solvers: Provides efficient forward and inverse kinematics solvers
• Path Planning: Supports various planar and spatial planning algorithms (e.g., OMPL, CHOMP, STOMP)
• Trajectory Optimization: Smooths generated paths and enforces velocity/acceleration limits
• Trajectory Execution: Seamlessly interfaces with hardware controllers for real-time motion control
• Real-Time Replanning: Automatically updates plans when the environment or goal changes
• Visualization & Debugging: Displays the planning pipeline in RViz plugins and supports interactive goal setting and parameter tuning

With MoveIt 2, you can rapidly generate and execute high-quality arm trajectories in both simulation and on real robots, streamlining your development and debugging workflows.

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To perform path planning and motion control for Shanghai Agilebot Robotics products using MoveIt2, run:

ros2 launch <robot type>_moveit_config demo.launch.py

For example, to launch MoveIt2 for the C5A model:

ros2 launch c5a_moveit_config demo.launch.py

This will start the MoveIt2 demonstration interface, enabling path planning and other operations.

Ref: MoveIt2 official documentation.