ur_moveit_config

This package contains an example MoveIt! configuration for Universal Robots arms. Since the default description contains only the arm, this MoveIt! configuration package also only contains the arm without any objects around it. In a real-world scenario it is recommended to create a robot_description modelling the robot with its surroundings (e.g. table where it is mounted on, objects in its environment, etc.) and to generate a scenario_moveit_config package from that description as explained in the Custom workcell tutorial.

Usage

With a running driver (real hardware, URSim or mocked hardware), simply start the MoveIt! interaction using

ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true

Now you should be able to use the MoveIt Plugin in rviz2 to plan and execute trajectories with the robot as explained here.

Note

The MoveIt configuration provided here has Trajectory Execution Monitoring (TEM) disabled, as the Scaled Joint Trajectory Controller may cause trajectories to be executed at a lower velocity than they were originally planned by MoveIt. MoveIt’s TEM however is not aware of this deliberate slow-down due to scaling and will in most cases unnecessarily (and unexpectedly) abort goals.

Until this incompatibility is resolved, the default value for execution_duration_monitoring is set to false. Users who wish to temporarily (re)enable TEM at runtime (for use with other, non-scaling controllers) can do so using the ROS 2 parameter services supported by MoveIt.

Listing 1 moveit_controllers.yaml

trajectory_execution:
  allowed_execution_duration_scaling: 1.2
  allowed_goal_duration_margin: 0.5
  allowed_start_tolerance: 0.01
  execution_duration_monitoring: false # May lead to unexpectedly aborted goals with scaled JTC