How to Install MoveIt 2 for ROS 2 Foxy Fitzroy

cover-photo-moveit-2-ros

In this tutorial, I will show you how to install MoveIt 2 for ROS 2 Foxy Fitzroy. MoveIt 2 is a popular software platform for controlling robotic arms (industrial, humanoid, and collaborative).

The official tutorial is located in the MoveIt 2 documentation, but we’ll run through the entire process step-by-step below.


You Will Need

In order to complete this tutorial, you will need:

Update the Package List

The first thing you need to do is make sure you have the latest version of packages installed. Open a new terminal window, and type the following commands, one after the other.

sudo apt update

Upgrade any outdated packages

sudo apt dist-upgrade

Type Y, and then press Enter.

Update ROS dependencies.

rosdep update

Add Various ROS 2 Build Tools

Add some other build tools that Move It 2 needs. Copy and paste the full command below into your Linux terminal and then press Enter.

sudo apt install -y \
  build-essential \
  cmake \
  git \
  libbullet-dev \
  python3-colcon-common-extensions \
  python3-flake8 \
  python3-pip \
  python3-pytest-cov \
  python3-rosdep \
  python3-setuptools \
  python3-vcstool \
  wget \
  clang-format-10 && \
# install some pip packages needed for testing
python3 -m pip install -U \
  argcomplete \
  flake8-blind-except \
  flake8-builtins \
  flake8-class-newline \
  flake8-comprehensions \
  flake8-deprecated \
  flake8-docstrings \
  flake8-import-order \
  flake8-quotes \
  pytest-repeat \
  pytest-rerunfailures \
  pytest

Create a Workspace

Let’s create a workspace for our MoveIt 2 work. Open a new terminal, and type the following commands:

export COLCON_WS=~/ws_moveit2/
mkdir -p $COLCON_WS/src
cd $COLCON_WS/src

Download MoveIt 2

Download the MoveIt 2 repository.

wget https://raw.githubusercontent.com/ros-planning/moveit2/main/moveit2.repos

Now run this command. Be patient as it will take a while for this command to complete. Feel free to go get something to eat or drink. 

vcs import < moveit2.repos
1-import-moveit2JPG

Make sure MoveIt 2 has all the dependencies it needs. This command below will also take several minutes to complete.

rosdep install -r --from-paths . --ignore-src --rosdistro foxy -y
2-moveit2JPG

Build MoveIt 2

Move to the root of the workspace.

cd $COLCON_WS

Build MoveIt 2. This command below will take a while to complete. Mine took 26 minutes and 51 seconds.

colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release

Here is what my terminal looks like after the build.

3-packages-finishedJPG

Source the Setup File for the Workspace

Open your .bashrc file, and add the following line to the very bottom of the file:

source ~/ws_moveit2/install/setup.bash
3b-gedit-bash-rcJPG

Test Your Installation

Open a new terminal window, and type the following commands to launch the demo.

cd ~/ws_moveit2
ros2 launch run_move_group run_move_group.launch.py
4-run-move-groupJPG

Here is another command you can run:

ros2 launch run_ompl_constrained_planning run_move_group.launch.py

Here is the output:

6-other-commandJPG

When you are finished, press CTRL + C in all terminal windows to shut everything down.