MoveIt2 SDK Python

A Python SDK for MoveIt2 that provides a simplified interface for robotic manipulation tasks, specifically designed for the Franka Emika Panda robot.

Features

  • Simplified MoveIt2 Interface: Easy-to-use Python API for motion planning and execution

  • Cartesian Path Planning: Compute and execute Cartesian paths through waypoints

  • Joint Space Control: Move robot to specific joint configurations

  • Franka Integration: Specialized support for Franka Emika Panda robot with gripper control

  • Speech Feedback: Audio feedback for robot actions using Google Speech

  • Async/Await Support: Modern Python async programming for non-blocking operations

Installation

Prerequisites

  • ROS 2 (Humble or later)

  • MoveIt2

  • Python 3.8+

  • Franka ROS 2 packages (for Franka robot support)

Dependencies

Install the required Python packages:

pip install rclpy geometry_msgs moveit_msgs sensor_msgs std_srvs franka_msgs google_speech

Building from Source

  1. Clone the repository into your ROS 2 workspace:

    cd ~/ros2_ws/src
git clone <repository_url> moveit2_sdk_python

  2. Install dependencies:

    cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y

  3. Build the package:

    colcon build --packages-select moveit2_sdk_python

  4. Source the workspace:

    source ~/ros2_ws/install/setup.bash

Usage

Basic MoveIt2 API

import asyncio
from moveit2_sdk_python.moveit2_sdk_python import Moveit2Python
from geometry_msgs.msg import Pose, Point, Quaternion

# Initialize the API
api = Moveit2Python(
    base_frame="panda_link0",
    ee_frame="panda_hand_tcp",
    group_name="panda_manipulator"
)

async def main():
    # Move to joint configuration
    joint_names = [f"panda_joint{i+1}" for i in range(7)]
    joint_positions = [0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785]
    await api.move_group(joint_names, joint_positions)

    # Plan and execute Cartesian path
    waypoints = [
        Pose(
            position=Point(x=0.4, y=0.2, z=0.4),
            orientation=Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)
        )
    ]
    trajectory = await api.get_cartesian_path(waypoints)
    await api.execute_trajectory(trajectory)

# Run the async function
asyncio.run(main())

Franka Mover (High-level Interface)

import asyncio
from moveit2_sdk_python.franka_mover import FrankaMover

async def main():
    # Initialize Franka mover
    mover = FrankaMover()

    # Move to home position
    await mover.home()

    # Move to a specific position
    await mover.move(x=0.5, y=0.0, z=0.3)

    # Execute grasp
    await mover.grasp()

    # Pour motion
    await mover.pour(x=0.4, y=0.2, z=0.4)

asyncio.run(main())

Running the Test Node

The package includes a test node that demonstrates various functionalities:

# Launch the test node
ros2 run moveit2_sdk_python try_node

# Trigger the test sequence
ros2 service call /test_cartesian std_srvs/srv/Empty

API Reference

Moveit2Python Class

Methods

  • move_group(names, positions): Move robot to specified joint configuration

  • get_cartesian_path(waypoints): Compute Cartesian path through waypoints

  • execute_trajectory(trajectory): Execute a pre-computed trajectory

FrankaMover Class

Methods

  • home(): Move robot to home position

  • move(x, y, z): Move to Cartesian coordinates with approach motion

  • grasp(): Execute grasp action with Franka gripper

  • pour(x, y, z): Execute pouring motion at specified location

Configuration

Robot Parameters

The SDK can be configured for different robot setups by modifying the initialization parameters:

api = Moveit2Python(
    base_frame="your_base_frame",      # Robot base frame
    ee_frame="your_ee_frame",          # End-effector frame
    group_name="your_move_group"       # MoveIt planning group
)

Motion Parameters

Cartesian path planning parameters can be adjusted in the get_cartesian_path method:

  • max_step: Maximum step size for path interpolation (default: 0.01)

  • max_cartesian_speed: Maximum Cartesian velocity (default: 0.08)

  • max_velocity_scaling_factor: Velocity scaling (default: 0.08)

  • max_acceleration_scaling_factor: Acceleration scaling (default: 0.03)

Documentation

Full API documentation is available at: GitHub Pages

To build documentation locally:

pip install -r docs-requirements.txt
sphinx-build -b html docs docs/_build/html

Contributing

  1. Fork the repository

  2. Create a feature branch

  3. Make your changes

  4. Add tests if applicable

  5. Submit a pull request

License

This project is licensed under the Apache License 2.0 - see the LICENSE file for details.

Troubleshooting

Common Issues

  1. Import errors: Ensure all ROS 2 and MoveIt2 packages are properly installed and sourced

  2. Service timeouts: Check that MoveIt2 move_group node is running

  3. Planning failures: Verify robot URDF and SRDF are correctly configured

Getting Help

  • Check the documentation

  • Open an issue on GitHub

  • Consult MoveIt2 documentation for underlying motion planning concepts

API Reference

API Documentation:

Indices and tables