This workshop will provide a hands-on introduction to MoveIt 2. Participants will learn how to plan motions for a mobile manipulator. No prior ROS 2 or MoveIt 2 experience is necessary, but basic familiarity with core robotics concepts is assumed. The participants can follow along on their own computers, but they will also have opportunities to plan and execute motions on real hardware: two Stretch mobile manipulators from Hello Robot will be available for experiments. The presenters will cover use and trade-offs of different strategies for motion planning approaches, inverse kinematics, grasping, trajectory generation, and integration with a perception pipeline.
|08:30–09:00||Overview and Introduction|
|09:00–09:30||Background on concepts in motion planning|
|09:30–10:00||Integrating planning with perception and control|
|10:30–11:30||MoveIt 2 overview|
|11:30–12:00||MoveIt Task Constructor|
|13:00–15:00||Hands-on programming, part I|
|15:30–17:00||Hands-on programming, part II|
Workshop participants will leave with an understanding of how to use MoveIt 2 to program a mobile manipulator to do a variety of tasks:
Participants will be provided with preparation instructions weeks before the event and are expected to bring their own computer. We plan to provide both a docker image with the setup used during the workshop as well as ROS 2 installation instructions for users who are already running ROS 2 on their own computer. We anticipate having at least 2 robots available for experimentation. Besides the robots, we will provide standard objects that can be used for manipulation.