lbr_moveit_config

Documentation for generating (Generate MoveIt Configuration) and updating (Update MoveIt Configuration) the MoveIt 2 configurations for the LBRs. For full documentation see MoveIt Documentation.

Generate MoveIt Configuration

This procedure applies to all LBRs: iiwa7, iiwa14, med7, and med14.

1. Make sure MoveIt 2 is installed.

sudo apt install ros-$ROS_DISTRO-moveit*

1. Make sure the lbr-stack is installed and sourced, see Installation.

2. Launch the setup assistant

ros2 launch moveit_setup_assistant setup_assistant.launch.py

1. Load Files: E.g. lbr-stack/install/lbr_description/share/lbr_description/urdf/iiwa7/iiwa7.xacro

   
2. Generate Collision Matrix: Generate

   
3. Virtual Joints: Skip

   
4. Planning Groups: Add

   

1. Planning Groups: Select Kinematic Solver and add Kinematic Chain

   
2. Kinematic Chain: Configure

   

1. Robot Poses: We add zero and transport

   
2. End Effectors: Skip (you might want to add one)

   
3. Passive Joints: Skip

   
4. ROS 2 Control URDF: Skip (defined in lbr_description)

   
5. ROS 2 Controllers: Skip (defined in lbr_bringup)

   
6. MoveIt Controllers: Auto Add FollowJointsTrajectory

   
7. Perception: Select None (you might want to add one)

   
8. Launch Files: Only add essential

   
9. Author Information: Add

   
10. Configuration Files:

    

11. Manual changes:

    1. Manually add acceleration limits in joint_limits.yaml (not supported in URDF)

    2. In the move_group.launch.py use the robot descriotion from lbr_description

    3. In moveit_controllers.yaml change the arm_controller to joint_trajectory_controller, as in hardware.yaml

Update MoveIt Configuration

1. Make sure the lbr-stack is installed and sourced, see Installation.

2. Run the setup assistant for the existing configuration.

   ros2 launch iiwa7_moveit_config  setup_assistant.launch.py # [iiwa7, iiwa14, med7, med14]
   

3. Update and save the configurations, similar to Generate MoveIt Configuration.