AndrejOrsula/pymoveit2

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services

What it solves

pymoveit2 provides a simplified Python interface for MoveIt 2, allowing developers to control robotic arms and grippers without needing to interact directly with complex ROS 2 actions and services.

How it works

It acts as a wrapper around ROS 2 actions and services, providing a high-level Python API for common robotic tasks. It includes specific interfaces for trajectory planning and execution, gripper control (via GripperCommand or JointTrajectoryController), and real-time Cartesian space control using MoveIt 2 Servo.

Who it’s for

Robotics developers and researchers using ROS 2 (Galactic, Humble, or Iron) and MoveIt 2 who prefer Python for rapid prototyping and robot control.

Highlights

  • Trajectory Planning: Move robots to specific joint configurations or Cartesian poses.
  • Gripper Control: Dedicated interfaces for controlling robotic grippers.
  • Collision Management: Ability to add primitive geometry or mesh-based collision objects to the planning scene.
  • Real-time Control: Integration with MoveIt 2 Servo for smooth, real-time end-effector movement.

Related

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    ROBOTIS-GIT/open_manipulator

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