Скачать или смотреть Configure MoveIt 2 for a Simulated Robot Arm – ROS 2 Jazzy

In this tutorial, I’ll show you how to set up MoveIt 2 for a simulated robotic arm using ROS 2 Jazzy. You’ll configure planning pipelines, define robot semantics (SRDF), create joint limit files, integrate the Gazebo simulation, and use RViz for motion planning and execution.

What You'll Learn
0:00 Introduction to MoveIt 2 and Why It Matters
0:46 How MoveIt 2 Integrates with ROS 2 Control
4:04 Create the MoveIt 2 Configuration Package
9:03 Create the Configuration Files
10:35 Add SRDF
13:48 Add Initial Positions
15:23 Add Joint Limits
16:50 Add Kinematics
18:05 Add Controllers
21:39 Add Cartesian Speed and Acceleration Limits
27:18 Configure Pilz Industrial Motion Planner
29:30 Add a Planning Pipeline File for the OMPL Planner
31:05 Add a Planning Pipeline File for the STOMP Planner
32:13 Create the RViz Configuration File
33:21 Build Launch Files for MoveIt 2 and Gazebo
34:53 Add the Setup Assistant File
37:30 Add and Configure an RGBD Camera
48:00 Create a Full Launch Script
48:32 Edit package.xml
48:58 Edit CMakeLists.txt
49:56 Build the Package
50:30 Change Permissions on Launch Script
51:12 Set z Value for the Robotic Arm
51:53 Launch the Robot and MoveIt 2
55:29 Explore RViz and Understand the MoveIt Plugins
59:15 Interact with the Robotic Arm Using Start and Goal States
1:01:10 Execute Motion Plans in RViz
1:08:42 Inspect Waypoints Using the Trajectory Slider
1:11:07 Perform Cartesian Motion Planning

By the end of this tutorial, you’ll be able to plan and execute complex robotic arm motions using MoveIt 2, including joint-space and Cartesian paths, inside a Gazebo simulation environment. This tutorial sets the foundation for pick-and-place applications, manipulation tasks, and integrating more advanced planners.

Resources and Links
Complete Tutorial Guide: https://automaticaddison.com/configur...
Visit My Blog for More Tutorials: https://automaticaddison.com

Connect With Me
LinkedIn:   / automaticaddison  
YouTube:    / @automaticaddison  

#ros2 #robotics #robotprogramming