Experimental MoveIt 2 - Drake Integration

NOTE: Experimental and will continue to have breaking changes until first release.

moveit_drake brings together the vertical ROS integration of the MoveIt 2 motion planning framework, with the Mathematical Programming interface within Drake. This allows the user to setup motion planning as an optimization problem within ROS, with the rich specification of constraints and costs provided by drake.

Features

• Exposes KinematicTrajectoryOptimization implementation in drake.
• Exposes TOPPRA implementation in drake.

Docker Workflow (Preferred and tested)

Requirements

docker and docker-compose - Follow instructions here.

Steps

The following steps clone and build the base image that you will require to test/build/run/develop with the repo (and will take some time, as it builds moveit)

git clone https://github.com/moveit/moveit_drake.git
cd moveit_drake
docker compose build

This should give you an image with drake and moveit2. Next, create a container with the following and create shell access.

docker compose up
docker compose exec -it moveit_drake bash

Follow instructions below to build moveit_drake

Local Installation

Install Drake

Follow these instructions

Build moveit_drake

Follow the MoveIt Source Build instructions to set up a colcon workspace with MoveIt from source.

Open a command line to your colcon workspace:

cd ${WORKSPACE}/src

Download the MoveIt Tutorials source code:

git clone https://github.com/moveit/moveit_drake.git
vcs import < moveit_drake/moveit_drake.repos
rosdep install -r --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} -y

Configure and build the workspace:

cd ${WORKSPACE}
colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release

Run the demo

ros2 launch moveit_drake pipeline_testbench.launch.py

Development

• Use pre-commit to format your code

Within the container you can run the following command to format the code

# inside the moveit_drake package
pre-commit run -a

Some helper commands

To just rebuild moveit_drake

rm -rf build/moveit_drake install/moveit_drake
colcon build --packages-select moveit_drake