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. We also show how to plan and execute motions on real hardware: a Stretch mobile manipulator from Hello Robot. 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.
Additional assistance during breakout sessions will be provided by David Lu!!, Cassidy Elliott, and Andy Zelenak (all from PickNik).
All times are UTC-5 (US Central Daylight Time)
|Overview and Introduction to Stretch [PDF] — Dave Coleman & Charlie Kemp
|Hardware demonstration of mobile manipulation capabilities — Binit Shah
|MoveIt overview [PDF] — Mark Moll
stretch_moveit_config demo — all
|MoveIt and the rest of ROS: perception, control, and simulation [PDF] — Vatan Tezer
|Guided exploration: Ignition Demo World — all
|High-level Task and Motion Planning using the MoveIt Task Constructor [PDF] — Henning Kayser
|Guided exploration: Pick and place with whole body planning — all
|Wrap up — Mark Moll
|Virtual happy hour — all
During the Guided exploration sessions, participants will be divided into groups for a guided, hands-on exploration of MoveIt capabilities. One or more MoveIt experts will be available per group.
Workshop participants will leave with an understanding of how to use MoveIt 2 to program a mobile manipulator to do a variety of tasks:
Specifically, you will be able to:
Participants will be provided with preparation instructions weeks before the event. 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.
Please complete the setup at least a day before the workshop. MoveIt maintainers will be monitoring the
#rosworld2021 channel on the MoveIt Discord server, so please post your questions there if you run into problems with the setup. (Note that Discord is a chat client, different from Discourse.)
Use one of following two options:
Please go through these instructions before the workshop. The docker image is 6.29GB in size, so this may take some time to download (depending on the speed of your internet connection).
ros_world2021 branch of the
stretch_ros2 repo on GitHub.