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

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
   

4. (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 ROS2 for the manipulator (real WMX runtime) with use_sim_time:=true.

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
   

4. (optional) Run trajectory_test.launch.py / coverage_pose.launch.py with 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 ROS2 for the manipulator on the robot (no use_sim_time).

3. Launch the planner and service API (no use_sim_time):

   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
   

4. (optional) Run trajectory_test.launch.py / coverage_pose.launch.py.