Overview

MoveIt2 application demonstrating robot manipulator motion planning, collision detection, and trajectory execution.

Features

• RRT-based Planning: Rapidly-exploring Random Trees for quick solutions
• Collision Avoidance: Continuous collision checking during planning
• IK Solvers: Multiple inverse kinematics algorithms
• Trajectory Optimization: Smooth path generation
• Real-time Performance: Suitable for interactive applications

Supported Robots

• Universal Robots: UR3, UR5, UR10
• Custom Robots: Framework for custom manipulators
• Gripper Control: Integrated end-effector planning
• 6-DOF Capability: Full pose control (position + orientation)

Technical Stack

• Framework: MoveIt2
• ROS Version: ROS 2
• Language: C++
• Visualization: RViz2

Features

• Motion planning with obstacle awareness
• Grasp planning integration
• Task-space (Cartesian) planning
• Multi-goal planning chains

Getting Started

git clone https://github.com/svaibhav101/my_moveit.git
cd my_moveit && colcon build && source install/setup.bash
ros2 launch my_moveit demo.launch.py

Capabilities

• Single arm planning to pose targets
• Multi-arm coordination
• Gripper control sequences
• Collision-free path generation