Experimental MoveIt 2 - Drake Integration

Under construction

Installation

Install Drake

Follow these instructions

Build moveit_drake

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

Open a command line to your colcon workspace:

cd YOUR_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 rolling -y

Configure and build the workspace:

cd $COLCON_WS
nice 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