Trajectory Planning

Plan and execute joint and Cartesian trajectories with MoveIt2 (OMPL) or Isaac cuMotion. See Example Applications for the shared manipulator setup. All commands run through mros. For the programmatic /wmx/moveit2/* service API, see MoveIt2 Motion Planning.

Simulation

Basic movements on simulation

HIL

Basic movements on hardware-in-the-loop (HIL).

Real

Basic movements on real-world scenario.

Simulation

1. Open the scene:

   Isaac Sim

   Open ~/workspaces/movensys-simulation/<MANIPULATOR_MODEL>/3a_trajectory_simulation.usd

   Gazebo

   mros ros2 launch movensys_manipulator_description gazebo_trajectory_simulation.launch.py
   

2. Run the simulator bridge:

   Isaac Sim

   mros ros2 launch movensys_manipulator_moveit_config sim_bridge.launch.py \
        simulator:=isaacsim use_sim_time:=true
   

   Gazebo

   mros ros2 launch movensys_manipulator_moveit_config sim_bridge.launch.py \
        simulator:=gazebo use_sim_time:=true
   

3. Launch the planner and service API:

   MoveIt2 OMPL

   mros ros2 launch movensys_manipulator_moveit_config moveit.launch.py use_sim_time:=true
   

   Isaac cuMotion

   mros ros2 launch movensys_manipulator_isaac_ros_config isaac_cumotion.launch.py use_sim_time:=true
   

   Add rsp:=false if using Gazebo or ros2_control – both already publish /robot_description.

4. (optional) Jog the arm from the keyboard (see Keyboard Jogging):

   mros ros2 run movensys_manipulator_moveit_config keyboard_teleop
   

5. (optional) Execute the trajectory or coverage test:

   mros ros2 launch movensys_manipulator_moveit_config trajectory_test.launch.py use_sim_time:=true
   mros ros2 launch movensys_manipulator_moveit_config coverage_pose.launch.py use_sim_time:=true
   

HIL

1. Open the scene:

   Isaac Sim

   Open ~/workspaces/movensys-simulation/<MANIPULATOR_MODEL>/3b_trajectory_hil.usd

   Gazebo

   mros ros2 launch movensys_manipulator_description gazebo_trajectory_hil.launch.py
   

2. Start WMX R2 for the manipulator (real WMX runtime) with use_sim_time:=true (see ~/workspaces/movensys_ws/src/wmx-r2/doc/launch_<MANIPULATOR_MODEL>_manipulator.md).

3. Launch the planner and service API with use_sim_time:=true:

   MoveIt2 OMPL

   mros ros2 launch movensys_manipulator_moveit_config moveit.launch.py use_sim_time:=true
   

   Isaac cuMotion

   mros ros2 launch movensys_manipulator_isaac_ros_config isaac_cumotion.launch.py use_sim_time:=true
   

   Add rsp:=false if using Gazebo or ros2_control – both already publish /robot_description.

4. (optional) Jog the arm from the keyboard (see Keyboard Jogging):

   mros ros2 run movensys_manipulator_moveit_config keyboard_teleop
   

5. (optional) Execute the trajectory or coverage test:

   mros ros2 launch movensys_manipulator_moveit_config trajectory_test.launch.py use_sim_time:=true
   mros ros2 launch movensys_manipulator_moveit_config coverage_pose.launch.py use_sim_time:=true
   

Real

1. (optional) Open the matching scene for visualization:

   Isaac Sim

   Open ~/workspaces/movensys-simulation/<MANIPULATOR_MODEL>/3c_trajectory_real.usd

   Gazebo

   mros ros2 launch movensys_manipulator_description gazebo_trajectory_real.launch.py
   

2. Start WMX R2 for the manipulator on the robot (see ~/workspaces/movensys_ws/src/wmx-r2/doc/launch_<MANIPULATOR_MODEL>_manipulator.md).

3. Launch the planner and service API:

   MoveIt2 OMPL

   mros ros2 launch movensys_manipulator_moveit_config moveit.launch.py
   

   Isaac cuMotion

   mros ros2 launch movensys_manipulator_isaac_ros_config isaac_cumotion.launch.py
   

   Add rsp:=false if using Gazebo or ros2_control – both already publish /robot_description.

4. (optional) Jog the arm from the keyboard (see Keyboard Jogging):

   mros ros2 run movensys_manipulator_moveit_config keyboard_teleop
   

5. (optional) Execute the trajectory or coverage test:

   mros ros2 launch movensys_manipulator_moveit_config trajectory_test.launch.py
   mros ros2 launch movensys_manipulator_moveit_config coverage_pose.launch.py
   

Keyboard Jogging

keyboard_teleop drives the servo_node started by moveit.launch.py, so it works in any of the three modes once the planner is up. Pick a mode first (j / t / p), then jog.

Danger

q and Ctrl+C are not emergency stops. They terminate the keyboard_teleop process; motion stops only as a side effect, after Servo’s 0.1 s command timeout. Neither removes motor power, engages brakes, triggers STO, or stops a move_group trajectory that is already executing.

Note

This table is the key mapping only. For the configured jog speeds, the per-keypress step size, the command timeout, and the exact stopping behavior of each mode, see Keyboard jogging — speeds, steps, and stopping behavior. On a physical robot, do not use keyboard jogging as the first motion. Follow Commissioning and First Motion first.

Key	Action
j	JOINT mode – keys 1…6 jog joint 1…6
t	TWIST mode – Cartesian end-effector jog
p	POSE mode – nudge an absolute end-effector target pose
↑ / ↓	X (+ / −) – twist jog, or pose-target nudge
← / →	Y (− / +) – twist jog, or pose-target nudge
. / ;	Z (− / +) – twist jog, or pose-target nudge
1 … 6	Joint jog for joint 1 … 6 (JOINT mode)
w / e	Frame for TWIST jog and POSE nudge = base (world_manipulator) / eef (Link6)
r	Reverse jog direction (twist / joint)
q	Quit