Getting Started with the FAIRINO MoveIt2 Plugin
Overview
In this tutorial, we focus on the installation and setup of a basic MoveIt2 environment using the FR5 cobot model. By the end of this tutorial, you should have a basic understanding of MoveIt2, and how to launch a functional planning environment without integrating a real cobot or simulator.
MoveIt 2 is a motion planning framework built on top of ROS2 that adds advanced robotic capabilities such as trajectory planning, collision avoidance, kinematics solving, scene awareness, and motion execution. Instead of manually controlling each robot joint, MoveIt2 allows users to define target positions or poses while the framework automatically computes safe and optimized robot motions.
Prerequisites
Ubuntu 22.04
To confirm that you are running the correct Ubuntu version, use the following command:
lsb_release -a
ROS 2 Humble
To verify that ROS 2 Humble is installed correctly, run:
echo $ROS_DISTRO
Setup Steps
Install MoveIt2 for ROS 2 Humble
Update your package list:
sudo apt update
Install MoveIt2 and the MoveIt Setup Assistant
sudo apt install ros-humble-moveit ros-humble-moveit-setup-assistant
After installation, verify that MoveIt2 was installed successfully:
ros2 pkg list | grep moveit
MoveIt2 should now be installed and ready to use.
Install the Fairino MoveIt2 Plugin
Clone the `frcobot_ros2` repository:
Source ROS 2 Humble
Before building the plugin locally, make sure your ROS 2 environment is sourced correctly.
Open your `.bashrc` file:
cat ~/.bashrc
Ensure the following line exists:
source /opt/ros/humble/setup.bash
After updating `.bashrc`, reload it using:
source ~/.bashrc
Build the Required Packages
Navigate to your workspace:
cd ~/path/to/fairino/plugin
Build the required packages sequentially:
colcon build --packages-select fairino_msgs
source install/setup.bash
colcon build --packages-select fairino_hardware_v3_9_5
source install/setup.bash
colcon build --packages-select fairino_description
source install/setup.bash
colcon build --packages-select fairino5_v6_moveit2_config
source install/setup.bash
Depending on your robot model and software version, you may need to modify the selected hardware package and MoveIt configuration package accordingly.
Launch the MoveIt2 Demo
Once all packages are built successfully, launch the MoveIt2 demo environment:
ros2 launch fairino5_v6_moveit2_config demo.launch.py
This will start RViz2 with the Fairino FR5 MoveIt2 configuration and allow you to test motion planning with the integrated gripper configuration.
You MUST source your environment in every new terminal session before running the demo
source /opt/ros/humble/setup.bash
source ~/path/to/fairino/plugin/install/setup.bash
# Launch MoveIt2 demo
ros2 launch fairino5_v6_moveit2_config demo.launch.py
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