Skip to content

🎯 MoveIt Tutorial

Complete MoveIt motion planning tutorial including simulation and real-robot workflows.

📋 Prerequisites

Item Requirement
🔧 ROS2 Humble installed
📁 Workspace openarmx_ws built
🤖 Hardware Optional for simulation

Simulation Mode

cd ~/openarmx_ws
source install/setup.bash
ros2 launch openarm_bimanual_moveit_config demo_sim.launch.py

⏱️ Wait 3-5 seconds for RViz to open.

RViz Startup

Example operations

  • Hands_up: Planning_Group = left_arm, Goal State = hands_up, click Execute
  • Open_gripper: Planning_Group = left_gripper, Goal State = open, click Execute
  • Home: Planning_Group = left_arm, Goal State = home, click Execute

Simulation 1 Simulation 2 Simulation 3

Real Robot Mode

🚨 Before motion:

  • Emergency stop is reachable
  • Workspace is clear
  • Motor test is completed
cd ~/openarmx_ws
source install/setup.bash
ros2 launch openarm_bimanual_moveit_config demo.launch.py control_mode:=mit

RViz Startup{ width="100%" }

First motion

  1. Select right_arm or left_arm in Planning Group.
  2. Set goal:
  3. Beginner: click Select Random Valid Goal
  4. Advanced: drag colored interactive marker in 3D view
  5. Click Plan, check trajectory, then click Execute.

Planning Group Select Random Valid Goal Plan Execute

Common operations

Operation Steps
Adjust speed Planning panel -> Velocity Scaling Factor (0.1-0.3 suggested)
Move to home Goal State -> home -> Update -> Plan & Execute
Manual control Drag interactive marker in 3D view