franka_mobile_fr3_duo_moveit_config

This package contains the configuration for for the Mobile FR3 Duo with MoveIt 2.

Move Group

There are 3 move groups called left_arm, right_arm and mobile_base and one group full_Body combining them all. There is also a move group for the spine, which you can use for planning and visualization, but it currently lacks support to move the real hardware or simulation.

Configuration Files

In the config folder you will find:

  • Motion planning configuration for the Mobile FR3 Duo (moveit_defaults.json)

  • Joint limits (joint_limits.yaml)

  • Kinematics solver configuration (kinematics.yaml)

  • ROS 2 controller configuration (mobile_fr3_duo_controllers.yaml)

  • MoveIt controller configuration (moveit_controllers.yaml)

Planning groups and collisions are defined in the mobile_fr3_duo.srdf.xacro in the franka_description package.

Usage

colcon build --packages-up-to franka_mobile_fr3_duo_moveit_config
ros2 launch franka_mobile_fr3_duo_moveit_config moveit.launch.py # for the real robot
ros2 launch franka_mobile_fr3_duo_moveit_config moveit.launch.py simulate_in_gazebo:=true # gazebo simulation
../../../../_images/motion_planning_in_rviz.png

Move the marker-handles to define your goal state. Then click Plan & Execute and observe the robot move.