Examples for Multi-Arm MoveIt implementation

Build

1. Build MoveIt2 from my repository

   Install all dependecies from Build Moveit from Source

   sudo apt remove ros-humble-moveit-msgs
   
   mkdir -p ws_moveit/src && cd ws_moveit/src
   git clone https://github.com/stooppas/moveit2 && git clone https://github.com/stooppas/moveit_msgs -b ros2
   
   for repo in moveit2/moveit2.repos $(f="moveit2/moveit2_$ROS_DISTRO.repos"; test -r $f && echo $f); do vcs import < "$repo"; done
   rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
   
   cd ..
   source /opt/ros/humble/setup.bash
   colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release
   

2. Install Niryo One ROS2

3. Build this

   mkdir -p ba_ws/src && cd ba_ws/src
   git clone https://github.com/stooppas/ba_dual_arm
   cd .. && source ../ws_moveit
   colcon build
   

Usage

1. Start all Niryo One Clients

   • The examples need two clients with the namespace "a_bot" and "b_bot"
   • To start: ros2 launch niryo_one_bringup start_sim.launch.py ns:=a_bot

2. Open new terminal and start RViz and move_group with ros2 launch niryo_one_moveit_config niryo_one_moveit.launch.py

   • This must always be launched, as it is the server that handles the incoming action requests from the examples

3. Open new terminal and start the examples with ros2 launch ba_dual_arm_examples eef_align.launch.py