Ubuntu22.04 + ROS2 Humble配置Moveit2环境

环境配置：

• ubuntu 22.04
• ROS2 humble
• moveit2

1.Ubuntu22.04配置ROS2

配置Ubuntu22.04 + ROS2 Humble这里就不再介绍了，详细可以参考这篇Ubuntu22.04 + ROS2 Humble的环境配置

2.二进制安装Moveit2

其实安装moveit2只需要一句话

sudo apt install ros-humble-moveit

运行不报错即代表安装成功

3.配置Moveit的官方教程

3.1安装rosdep

打开一个新的terminal

source /opt/ros/humble/setup.bash
sudo apt install python3-rosdep

然后初始化rosdep，并更新环境的依赖

sudo rosdep init
rosdep update
sudo apt update
sudo apt dist-upgrade

使用mixin构建环境

sudo apt install python3-colcon-common-extensions
sudo apt install python3-colcon-mixin
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default

安装vcstool

sudo apt install python3-vcstool

3.2下载moveit的tutorials

首先创建一个工作空间

mkdir -p ~/ws_moveit2/src
cd ~/ws_moveit2/src
git clone --branch humble https://github.com/ros-planning/moveit2_tutorials

可以在ws_moveit2/src/moveit2_tutorials文件夹下找到moveit2_tutorials.repos文件，该文件的内容如下：

repositories:launch_param_builder:type: giturl: https://github.com/PickNikRobotics/launch_param_builderversion: mainmoveit2:type: giturl: https://github.com/ros-planning/moveit2version: humblemoveit_resources:type: giturl: https://github.com/ros-planning/moveit_resourcesversion: humblemoveit_task_constructor:type: giturl: https://github.com/ros-planning/moveit_task_constructor.gitversion: humblemoveit_visual_tools:type: giturl: https://github.com/ros-planning/moveit_visual_toolsversion: ros2rosparam_shortcuts:type: giturl: https://github.com/PickNikRobotics/rosparam_shortcutsversion: ros2srdfdom:type: giturl: https://github.com/ros-planning/srdfdom.gitversion: ros2

这个文件里包含了moveit2的及其相关依赖的源码，我们还需要将这些仓库和对应分支的代码克隆下来，

vcs import < moveit2_tutorials/moveit2_tutorials.repos

如果克隆失败，repos文件中的https://github.com/前都加上前缀https://ghproxy.com/，然后再克隆一次，如果成功会出现如下的信息

=== ./launch_param_builder (git) ===
Cloning into '.'...
=== ./moveit2 (git) ===
Cloning into '.'...
=== ./moveit_resources (git) ===
Cloning into '.'...
=== ./moveit_task_constructor (git) ===
Cloning into '.'...
=== ./moveit_visual_tools (git) ===
Cloning into '.'...
=== ./rosparam_shortcuts (git) ===
Cloning into '.'...
=== ./srdfdom (git) ===
Cloning into '.'...

然后安装剩余的依赖

sudo apt update && rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y

出下如下的结果则成功

Unpacking ros-humble-forward-command-controller (2.34.0-1jammy.20240404.132907) ...
Selecting previously unselected package ros-humble-position-controllers.
Preparing to unpack .../ros-humble-position-controllers_2.34.0-1jammy.20240404.133529_amd64.deb ...
Unpacking ros-humble-position-controllers (2.34.0-1jammy.20240404.133529) ...
Setting up ros-humble-forward-command-controller (2.34.0-1jammy.20240404.132907) ...
Setting up ros-humble-position-controllers (2.34.0-1jammy.20240404.133529) ...
#All required rosdeps installed successfully

最后我们可以进入工作空间然后开始编译了

cd ~/ws_moveit2
colcon build --mixin release

这个编译的时间可能会很久，请耐心等待。

3.3安装中间件Middleware

官方推荐使用Cyclone DDS作为中间件的解决方案

sudo apt install ros-humble-rmw-cyclonedds-cpp

截至 2022 年 9 月 26 日，默认的 ROS 2 中间件 (RMW) 实现存在问题。 作为解决方法，请切换到 Cyclone DDS。所以我们需要在~/.bashrc文件中添加这样一句话

# You may want to add this to ~/.bashrc to source it automatically
# >>> moveit2 Cyclone DDS <<<
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

4.启动测试用例

进入我们的工作空间

cd ~/ws_moveit2/src
source intsall/setup.bash

然后直接启动

ros2 launch moveit2_tutorials demo.launch.py rviz_config:=panda_moveit_config_demo_empty.rviz

然后会出现一个空白的rviz2的界面

然后选择Add > MotionPlanning就会出现一个机械臂的模型，接下来就可以安装官方的教程开始学习了。

Reference

[1]MoveIt 2 Binary Install

[2]MoveIt Quickstart in RViz

[3]《动手学Moveit2》3.安装Moveit2测试