MoveIt 2

https://moveit.picknik.ai/main/
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MoveIt 2 is a robotic manipulation platform for ROS 2 that incorporates advances in motion planning,...
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### Launch pick_ik demo

Source: https://moveit.picknik.ai/main/doc/how_to_guides/pick_ik/pick_ik_tutorial.html

Launch a preconfigured demo for pick_ik after installation. This starts a demo similar to the MoveIt Quickstart in RViz tutorial, using the kinematics_pick_ik.yaml file from the moveit2_tutorials/doc/pick_ik/config directory.

```bash
ros2 launch moveit2_tutorials demo_pick_ik.launch.py
```

--------------------------------

### Launch MoveIt Setup Assistant

Source: https://moveit.picknik.ai/main/doc/examples/setup_assistant/setup_assistant_tutorial.html

Command to start the MoveIt Setup Assistant. After running, the start screen appears with options to create a new or edit an existing MoveIt configuration package.

```bash
ros2 launch moveit_setup_assistant setup_assistant.launch.py

```

--------------------------------

### Install dependencies and build MoveIt Calibration

Source: https://moveit.picknik.ai/main/doc/examples/hand_eye_calibration/hand_eye_calibration_tutorial.html

Installs dependencies with rosdep and builds the workspace using catkin, then sources the setup script.

```bash
rosdep install -y --from-paths . --ignore-src --rosdistro melodic
catkin build
source devel/setup.sh

```

--------------------------------

### Launch Rviz for MoveIt Grasps demos

Source: https://moveit.picknik.ai/main/doc/examples/moveit_grasps/moveit_grasps_tutorial.html

Start Rviz with the default two-finger gripper setup. Required before running any of the demos.

```bash
roslaunch moveit_grasps rviz.launch

```

--------------------------------

### Run the Robot Model and Robot State Tutorial

Source: https://moveit.picknik.ai/main/doc/examples/robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html

Use this ros2 launch command to run the tutorial code from the moveit2_tutorials package. Ensure you have completed the Getting Started steps and have MoveIt set up.

```bash
ros2 launch moveit2_tutorials robot_model_and_robot_state_tutorial.launch.py

```

--------------------------------

### getInstructions() const

Source: https://moveit.picknik.ai/main/api/html/classmoveit__setup_1_1controllers_1_1MoveItControllers.html

Returns the instructions for the setup step.

```APIDOC
## getInstructions() const

### Description
Returns the instructions for the setup step.

### Method
`std::string getInstructions() const override`

### Returns
- **std::string** - The instructions text.
```

--------------------------------

### getInstructions()

Source: https://moveit.picknik.ai/main/api/html/classmoveit__setup_1_1controllers_1_1ROS2Controllers.html

Returns the instructions for the setup step.

```APIDOC
## getInstructions()

### Description
Returns the instructions for the setup step.

### Method
`std::string getInstructions() const override`

### Returns
- **std::string** - The instructions text.
```

--------------------------------

### Main function for MoveIt Setup Assistant

Source: https://moveit.picknik.ai/main/api/html/main_8cpp_source.html

Entry point that parses command-line arguments, initializes ROS and Qt, and runs the SetupAssistantWidget.

```cpp
int main(int argc, char** argv)
{
  std::vector<std::string> remaining_args = rclcpp::remove_ros_arguments(argc, argv);
  std::vector<char*> clean_argv;
  clean_argv.reserve(remaining_args.size());
  for (const std::string& arg : remaining_args)
  {
    clean_argv.push_back(const_cast<char*>(arg.c_str()));
  }

  // Parse parameters
  namespace po = boost::program_options;

  // Declare the supported options
  // clang-format off
  po::options_description desc("Allowed options");
  desc.add_options()("help,h", "Show help message")("debug,g", "Run in debug/test mode")(
      "urdf_path,u", po::value<std::filesystem::path>(), "Optional, path to URDF file in ROS package")(
      "config_pkg,c", po::value<std::string>(), "Optional, pass in existing config package to load");
  // clang-format on

  // Process options
  po::variables_map vm;
  try
  {
    po::store(po::parse_command_line(clean_argv.size(), &clean_argv[0], desc), vm);
    po::notify(vm);

    if (vm.count("help"))
      usage(desc, 0);
  }
  catch (const std::exception& e)
  {
    std::cerr << e.what() << '\n';
    usage(desc, 1);
  }
  // Start ROS Node
  auto client = std::make_unique<rviz_common::ros_integration::RosClientAbstraction>();
  auto node = client->init(argc, argv, "moveit_setup_assistant", false);

  // Create Qt Application
  QApplication qt_app(argc, argv);
  // numeric values should always be POSIX
  setlocale(LC_NUMERIC, "C");

  // Load Qt Widget
  moveit_setup::assistant::SetupAssistantWidget saw(node, nullptr, vm);
  saw.setMinimumWidth(1090);
  saw.setMinimumHeight(600);
  // saw.setWindowState( Qt::WindowMaximized );

  saw.show();

  signal(SIGINT, siginthandler);

  // Wait here until Qt App is finished
  const int result = qt_app.exec();

  // Shutdown ROS
  rclcpp::shutdown();

  return result;
}
```

--------------------------------

### PlanningComponent::getStartState()

Source: https://moveit.picknik.ai/main/api/html/classmoveit__cpp_1_1PlanningComponent.html

Get the considered start state if defined, otherwise get the current state.

```APIDOC
## PlanningComponent::getStartState()

### Description
Get the considered start state if defined, otherwise get the current state.

### Parameters
None.

### Returns
- **moveit::core::RobotStatePtr** - A shared pointer to the start state.
```

--------------------------------

### getStartState

Source: https://moveit.picknik.ai/main/api/html/classmoveit__cpp_1_1PlanningComponent-members.html

Gets the start state.

```APIDOC
## getStartState()

### Description
Gets the start state.

```

--------------------------------

### getInstructions()

Source: https://moveit.picknik.ai/main/api/html/classmoveit__setup_1_1controllers_1_1ROS2Controllers.html

Returns instructions for the user for this setup step.

```APIDOC
## getInstructions()

### Description
Returns instructions for the user for this setup step.

### Method
`std::string getInstructions() const`

### Parameters
None.

### Returns
- `std::string` - Instructions text.

### Notes
- Overrides `moveit_setup::controllers::Controllers::getInstructions()`.
- Defined at line 62 of `ros2_controllers.hpp`.
```

--------------------------------

### getStartIndex()

Source: https://moveit.picknik.ai/main/api/html/classchomp_1_1ChompTrajectory.html

Gets the start index.

```APIDOC
## getStartIndex()

### Description
Gets the start index.

### Method
`size_t getStartIndex() const`

### Parameters
None.

### Returns
- `size_t` - The start index.
```

--------------------------------

### Launch TrajOpt example from moveit_tutorials

Source: https://moveit.picknik.ai/main/doc/examples/trajopt_planner/trajopt_planner_tutorial.html

Runs the TrajOpt example launch file from the moveit/moveit_tutorials repository. Should be run after the demo launch.

```bash
roslaunch moveit_tutorials trajopt_example_launch.launch

```

--------------------------------

### Launch tutorials environment (mtc_demo.launch.py)

Source: https://moveit.picknik.ai/main/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.html

Launch the first launch file provided by the tutorials. This starts the environment with RViz already configured.

```bash
ros2 launch moveit2_tutorials mtc_demo.launch.py
```

--------------------------------

### getMonitorStartTime

Source: https://moveit.picknik.ai/main/api/html/classplanning__scene__monitor_1_1CurrentStateMonitor.html

Gets the time point when the monitor was started.

```APIDOC
## getMonitorStartTime

### Description
Returns the time when the monitor was started.

### Method
const rclcpp::Time &getMonitorStartTime() const

### Returns
- (rclcpp::Time) - The monitor start time.
```

--------------------------------

### getName

Source: https://moveit.picknik.ai/main/api/html/classPlanningGroups.html

Returns the name of the setup step.

```APIDOC
## getName

### Description
Returns the name of the setup step.

### Method
N/A (C++ member function)

### Signature
`std::string getName() const override`

### Parameters
None

### Returns
- **std::string** - The name of the setup step.

```

--------------------------------

### Launch MoveIt Tutorials Demo

Source: https://moveit.picknik.ai/main/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.html

Launches the MoveIt tutorials demo in RViz. Run this command first to start the environment and then add the MotionPlanning plugin if it is not already visible.

```bash
ros2 launch moveit2_tutorials demo.launch.py
```

--------------------------------

### chomp::ChompTrajectory::getStartIndex

Source: https://moveit.picknik.ai/main/api/html/chomp__trajectory_8hpp_source.html

Gets the start index of the trajectory.

```APIDOC
## chomp::ChompTrajectory::getStartIndex

### Description
Gets the start index.

### Method
`size_t getStartIndex() const`

### Returns
- **size_t** - The start index.

```

--------------------------------

### getOMPLSimpleSetup()

Source: https://moveit.picknik.ai/main/api/html/classompl__interface_1_1ModelBasedPlanningContext.html

Returns a reference to the OMPL simple setup pointer. Two overloads are provided: a non-const version and a const version.

```APIDOC
## getOMPLSimpleSetup()

### Description
Returns a reference to the OMPL simple setup pointer. Two overloads are provided: a non-const version and a const version.

### Method
Accessor method (inline)

### Signature
- `og::SimpleSetupPtr& getOMPLSimpleSetup()`
- `const og::SimpleSetupPtr& getOMPLSimpleSetup() const`

### Parameters
None

### Returns
- `og::SimpleSetupPtr&` - Reference to the OMPL simple setup pointer (non-const overload)
- `const og::SimpleSetupPtr&` - Const reference to the OMPL simple setup pointer (const overload)

### Notes
- Defined in `model_based_planning_context.hpp` at lines 143 and 138 respectively.
```

--------------------------------

### chomp::ChompTrajectory::getStartIndex

Source: https://moveit.picknik.ai/main/api/html/chomp__optimizer_8cpp_source.html

Gets the start index of the trajectory.

```APIDOC
## chomp::ChompTrajectory::getStartIndex

### Description
Gets the start index of the trajectory.

### Method
`size_t getStartIndex() const`

### Returns
- **size_t** - The start index.

### Definition
chomp_trajectory.hpp:261
```

--------------------------------

### getInstructions

Source: https://moveit.picknik.ai/main/api/html/classmoveit__setup_1_1controllers_1_1Controllers.html

Returns the instructions for the controller setup step.

```APIDOC
## getInstructions

### Description
Returns the instructions for the controller setup step.

### Method
virtual std::string getInstructions() const = 0

### Parameters
None

### Returns
- **std::string** - The instructions text.
```

--------------------------------

### Terminal prompt for box constraint example

Source: https://moveit.picknik.ai/main/doc/how_to_guides/using_ompl_constrained_planning/ompl_constrained_planning.html

This message appears in the terminal after launching, prompting the user to press 'Next' in the RvizVisualToolsGui window to start the box constraint example.

```text
Waiting to continue: Press 'Next' in the RvizVisualToolsGui window to start with the box constraint example

```

--------------------------------

### allowedStartTolerance

Source: https://moveit.picknik.ai/main/api/html/classtrajectory__execution__manager_1_1TrajectoryExecutionManager.html

Gets the current joint-value tolerance for validating trajectory's start point.

```APIDOC
## allowedStartTolerance

### Description
Get the current joint-value for validating trajectory's start point against current robot state.

### Method
double allowedStartTolerance() const

### Returns
- **double** - The tolerance value.
```

--------------------------------

### StartScreen::onInit()

Source: https://moveit.picknik.ai/main/api/html/classmoveit__setup_1_1core_1_1StartScreen.html

Overridable initialization method called when the setup step is initialized.

```APIDOC
## StartScreen::onInit()

### Description
Overridable initialization method called when the setup step is initialized.

### Method
`void onInit()`

### Returns
- **void** - No return value.

### Notes
- Overrides `moveit_setup::SetupStep::onInit()`.
- Defined in `start_screen.cpp` at line 43.
```

--------------------------------

### Run the MoveItCpp tutorial launch file

Source: https://moveit.picknik.ai/main/doc/examples/moveit_cpp/moveitcpp_tutorial.html

Launches the MoveItCpp tutorial in RViz. After a short moment, the RViz window appears; use the 'Next' button in the RvizVisualToolsGui panel or press '0' with Key Tool to progress through demo steps.

```bash
ros2 launch moveit2_tutorials moveit_cpp_tutorial.launch.py

```

--------------------------------

### moveit::core::JointModel::getParentLinkModel

Source: https://moveit.picknik.ai/main/api/html/chomp__optimizer_8cpp_source.html

Gets the link that this joint connects to. The robot is assumed to start with a joint.

```APIDOC
## moveit::core::JointModel::getParentLinkModel

### Description
Gets the link that this joint connects to. The robot is assumed to start with a joint.

### Method
`const LinkModel * getParentLinkModel() const`

### Returns
- **const LinkModel *** - The parent link model.

### Definition
joint_model.hpp:162
```

--------------------------------

### SetUp: Initialize test fixture

Source: https://moveit.picknik.ai/main/api/html/test__state__validity__checker_8cpp_source.html

Calls setupStateSpace and setupPlanningContext to prepare the test environment.

```cpp
void SetUp() override
{
  // setup all the input we need to create a StateValidityChecker
  setupStateSpace();
  setupPlanningContext();
};
```

--------------------------------

### getStateAtDurationFromStart()

Source: https://moveit.picknik.ai/main/api/html/classrobot__trajectory_1_1RobotTrajectory.html

Gets a robot state corresponding to a supplied duration from start for the trajectory, using linear time interpolation.

```APIDOC
## getStateAtDurationFromStart()

### Description
Gets a robot state corresponding to a supplied duration from start for the trajectory, using linear time interpolation.

### Method
`getStateAtDurationFromStart`

### Signature
`bool robot_trajectory::RobotTrajectory::getStateAtDurationFromStart(const double _request_duration_, moveit::core::RobotStatePtr & _output_state_) const`

### Parameters
- **const double _request_duration_** - The duration from start.
- **moveit::core::RobotStatePtr & _output_state_** - The resulting robot state.

### Returns
- **bool** - True if state is valid, false otherwise (trajectory is empty).

### Notes
- Defined in robot_trajectory.cpp at line 620.
```

--------------------------------

### StartScreenWidget::getSetupStep

Source: https://moveit.picknik.ai/main/api/html/classmoveit__setup_1_1core_1_1StartScreenWidget.html

Return a reference to the SetupStep object.

```APIDOC
## StartScreenWidget::getSetupStep

### Description
Return a reference to the SetupStep object.

### Method
SetupStep & getSetupStep() override

### Parameters
None

### Returns
SetupStep & - Reference to the SetupStep object.
```

--------------------------------

### RobotTrajectory::getStateAtDurationFromStart()

Source: https://moveit.picknik.ai/main/api/html/classrobot__trajectory_1_1RobotTrajectory.html

Gets a robot state corresponding to a supplied duration from start using linear time interpolation.

```APIDOC
## RobotTrajectory::getStateAtDurationFromStart()

### Description
Gets a robot state corresponding to a supplied duration from start for the trajectory, using linear time interpolation.

### Method
getStateAtDurationFromStart

### Signature
bool getStateAtDurationFromStart(const double request_duration, moveit::core::RobotStatePtr &output_state) const

### Parameters
- **request_duration** (const double) - Required - The duration from start for which to get the state.
- **output_state** (moveit::core::RobotStatePtr&) - Required - Output parameter to store the interpolated robot state.

### Returns
bool - True if the state was successfully obtained, false otherwise.

```

--------------------------------

### onInit()

Source: https://moveit.picknik.ai/main/api/html/classmoveit__setup_1_1simulation_1_1Simulation.html

Overridable initialization method for the Simulation setup step. Reimplemented from moveit_setup::SetupStep.

```APIDOC
## onInit()

### Description
Overridable initialization method for the Simulation setup step. Reimplemented from moveit_setup::SetupStep.

### Method
onInit

### Signature
void moveit_setup::simulation::Simulation::onInit()

### Parameters
None

### Returns
void

### Notes
- Definition at line 45 of file simulation.cpp.
```

--------------------------------

### Example kinematics.yaml for Panda robot

Source: https://moveit.picknik.ai/main/doc/examples/kinematics_configuration/kinematics_configuration_tutorial.html

Shows the primary configuration file for kinematics in MoveIt, generated by the MoveIt Setup Assistant. The example uses the KDL kinematics plugin with a search resolution of 0.005, a timeout of 0.05 seconds, and 3 attempts.

```yaml
panda_arm:
  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
  kinematics_solver_search_resolution: 0.005
  kinematics_solver_timeout: 0.05
  kinematics_solver_attempts: 3

```

--------------------------------

### onInit()

Source: https://moveit.picknik.ai/main/api/html/classPlanningGroups.html

Overridable initialization method for the setup step. This is an override of the virtual method from SetupStep.

```APIDOC
## onInit()

### Description
Overridable initialization method.

### Method
C++ member function (override virtual)

### Signature
`void moveit_setup::srdf_setup::PlanningGroups::onInit()`

### Parameters
None

### Returns
- **void** - No return value.

```

--------------------------------

### trajectory_execution_manager::TrajectoryExecutionManager::allowedStartTolerance

Source: https://moveit.picknik.ai/main/api/html/moveit__ros_2planning_2trajectory__execution__manager_2src_2trajectory__execution__manager_8cpp_source.html

Gets the current joint-value tolerance for validating a trajectory's start point against the current robot state.

```APIDOC
## allowedStartTolerance

### Description
Get the current joint-value for validating trajectory's start point against current robot state.

### Method
double allowedStartTolerance() const

### Returns
double - The allowed start tolerance.
```

--------------------------------

### Launch pose tracking tutorial

Source: https://moveit.picknik.ai/main/doc/examples/realtime_servo/realtime_servo_tutorial.html

Launch the pose tracking tutorial that demonstrates using pose commands to servo a robot to open a door.

```bash
ros2 launch moveit2_tutorials pose_tracking_tutorial.launch.py

```

--------------------------------

### TrajectoryCache::getDefaultFeatures

Source: https://moveit.picknik.ai/main/api/html/dir_3216b32ef45c7cf50894986c16c34ca7.html

Gets the default features for MotionPlanRequest messages, keyed on starting robot state and goal constraints with separate fuzziness.

```APIDOC
## TrajectoryCache::getDefaultFeatures

### Description
Gets the default features for MotionPlanRequest messages. These features key the cache on starting robot state and goal constraints, with separate fuzziness on start and goal features.

### Method
static std::vector< std::unique_ptr< FeaturesInterface< moveit_msgs::msg::MotionPlanRequest > > > getDefaultFeatures(double start_tolerance, double goal_tolerance)

### Parameters
- **start_tolerance** (double) - Required - Tolerance for the start state feature.
- **goal_tolerance** (double) - Required - Tolerance for the goal constraints feature.

### Returns
- **std::vector< std::unique_ptr< FeaturesInterface< moveit_msgs::msg::MotionPlanRequest > > >** - The default feature extractors.

### Definition
- **File**: trajectory_cache.cpp:92
```

--------------------------------

### setupPlanningContext: Create ModelBasedPlanningContext

Source: https://moveit.picknik.ai/main/api/html/test__state__validity__checker_8cpp_source.html

Creates a ModelBasedPlanningContext with the state space and a SimpleSetup, sets the planning scene, and sets the complete initial state to default values.

```cpp
void setupPlanningContext()
{
  ASSERT_NE(state_space_, nullptr) << "Initialize state space before creating the planning context.";

  planning_context_spec_.state_space_ = state_space_;
  planning_context_spec_.ompl_simple_setup_ = std::make_shared<ompl::geometric::SimpleSetup>(state_space_);
  planning_context_ =
    std::make_shared<ompl_interface::ModelBasedPlanningContext>(group_name_, planning_context_spec_);

  planning_scene_ = std::make_shared<planning_scene::PlanningScene>(robot_model_);
  planning_context_->setPlanningScene(planning_scene_);
  moveit::core::RobotState start_state(robot_model_);
  start_state.setToDefaultValues();
  planning_context_->setCompleteInitialState(start_state);
}
```

--------------------------------

### Plan with conflicting start state and pose goal (error example)

Source: https://moveit.picknik.ai/main/doc/examples/jupyter_notebook_prototyping/jupyter_notebook_prototyping_tutorial.html

Shows a planning attempt that will cause an error because the start state 'ready' conflicts with the current robot configuration. It sets a pose goal using a PoseStamped message and then calls plan_and_execute.

```python
# set plan start state using predefined state
panda_arm.set_start_state("ready") # This conflicts with the current robot configuration and will cause an error

# set goal using a pose message this time
pose_goal = PoseStamped()
pose_goal.header.frame_id = "panda_link0"
pose_goal.pose.orientation.w = 1.0
pose_goal.pose.position.x = 0.28
pose_goal.pose.position.y = -0.2
pose_goal.pose.position.z = 0.5
panda_arm.set_goal_state(pose_stamped_msg = pose_goal, pose_link = "panda_link8")

# plan to goal
plan_and_execute(panda, panda_arm)

```

--------------------------------

### Run kinematics cost function tutorial

Source: https://moveit.picknik.ai/main/doc/how_to_guides/kinematics_cost_function/kinematics_cost_function_tutorial.html

Launches the tutorial in the second shell. Progress through demo steps using the Next button or Key Tool.

```bash
ros2 launch moveit2_tutorials kinematics_cost_function_tutorial.launch.py

```

--------------------------------

### SetupStep& SimulationWidget::getSetupStep()

Source: https://moveit.picknik.ai/main/api/html/classmoveit__setup_1_1simulation_1_1SimulationWidget.html

Return a reference to the SetupStep object.

```APIDOC
## getSetupStep()

### Description
Return a reference to the SetupStep object.

### Method
getSetupStep

### Signature
`SetupStep& moveit_setup::simulation::SimulationWidget::getSetupStep()`

### Parameters
None.

### Returns
`SetupStep&` - Reference to the SetupStep object.

### Overrides
Reimplemented from `moveit_setup::SetupStepWidget`.
```

--------------------------------

### getDefaultCartesianFeatures()

Source: https://moveit.picknik.ai/main/api/html/classTrajectoryCache.html

Gets the default features for GetCartesianPath requests. This is a static method that takes start tolerance, goal tolerance, and minimum fraction as parameters.

```APIDOC
## getDefaultCartesianFeatures()

### Description
Gets the default features for GetCartesianPath requests.

### Method
static

### Signature
`static std::vector<std::unique_ptr<FeaturesInterface<GetCartesianPath::Request>>> moveit_ros::trajectory_cache::TrajectoryCache::getDefaultCartesianFeatures(double _start_tolerance_, double _goal_tolerance_, double _min_fraction_)`

### Parameters
- **double _start_tolerance_** - Start tolerance.
- **double _goal_tolerance_** - Goal tolerance.
- **double _min_fraction_** - Minimum fraction.

### Returns
- **std::vector<std::unique_ptr<FeaturesInterface<GetCartesianPath::Request>>>** - The default features.

### See Also
- CartesianBestSeenExecutionTimePolicy::getDefaultFeatures

### Source
Definition at line 104 of file trajectory_cache.cpp.
```

--------------------------------

### Launch Motion Planning Pipeline Tutorial

Source: https://moveit.picknik.ai/main/doc/examples/motion_planning_pipeline/motion_planning_pipeline_tutorial.html

Runs the tutorial's launch file in a second shell. After a short moment, the RViz window appears; use the RvizVisualToolsGui panel to step through the demo.

```bash
ros2 launch moveit2_tutorials motion_planning_pipeline_tutorial.launch.py

```

--------------------------------

### configure()

Source: https://moveit.picknik.ai/main/api/html/classompl__interface_1_1ModelBasedPlanningContext.html

Configures the OMPL simple setup and optionally the constraints library. Sets the start state, state sampler, and state validity checker.

```APIDOC
## configure()

### Description
Configures ompl_simple_setup_ and optionally the constraints_library_. ompl_simple_setup_ gets a start state, state sampler, and state validity checker.

### Method
configure

### Signature
void ompl_interface::ModelBasedPlanningContext::configure(const rclcpp::Node::SharedPtr &_node_, bool _use_constraints_approximations_)

### Parameters
- **node** (rclcpp::Node::SharedPtr) - Required - ROS node used to load the constraint approximations.
- **use_constraints_approximations** (bool) - Required - Set to true if we want to load the constraint approximation.

### Notes
- Virtual method.
- Definition at line 110 of file model_based_planning_context.cpp.
```

--------------------------------

### Launch Panda MoveIt demo

Source: https://moveit.picknik.ai/main/doc/examples/subframes/subframes_tutorial.html

Run in the first terminal after completing the Getting Started steps. Loads a panda robot and waits for everything to finish loading.

```bash
roslaunch panda_moveit_config demo.launch

```

--------------------------------

### SetupStep::isReady

Source: https://moveit.picknik.ai/main/api/html/classmoveit__setup_1_1SetupStep.html

Returns true if the data necessary to proceed with this step has been configured.

```APIDOC
## SetupStep::isReady

### Description
Returns true if the data necessary to proceed with this step has been configured.

### Method
isReady

### Parameters
None

### Returns
bool - True if the step is ready, false otherwise.
```

--------------------------------

### Run MoveIt integration test with rostest

Source: https://moveit.picknik.ai/main/doc/examples/tests/tests_tutorial.html

Runs a Python-based integration test for higher-level move_group functionality in MoveIt. Requires completing the Getting Started steps first.

```bash
rostest moveit_ros_planning_interface python_move_group.test

```

--------------------------------

### Run pick and place tutorial with rosrun

Source: https://moveit.picknik.ai/main/doc/examples/pick_place/pick_place_tutorial.html

Runs the pick and place tutorial node in the second terminal. The output should resemble the video at the beginning of the tutorial.

```bash
rosrun moveit_tutorials pick_place_tutorial

```

--------------------------------

### setupScene(const rclcpp::Node::SharedPtr &node, const planning_scene::PlanningScenePtr &scene)

Source: https://moveit.picknik.ai/main/api/html/classcollision__detection_1_1CollisionPluginLoader.html

Fetches the plugin name from the parameter server and activates the plugin for the given planning scene.

```APIDOC
## setupScene(const rclcpp::Node::SharedPtr &node, const planning_scene::PlanningScenePtr &scene)

### Description
Fetches the plugin name from the parameter server and activates the plugin for the given scene.

### Signature
```cpp
void collision_detection::CollisionPluginLoader::setupScene(const rclcpp::Node::SharedPtr &node, const planning_scene::PlanningScenePtr &scene)
```

### Parameters
- **node** (rclcpp::Node::SharedPtr) - Required - The ROS node used to fetch parameters.
- **scene** (planning_scene::PlanningScenePtr) - Required - The planning scene to activate the plugin for.

### Returns
None.
```

--------------------------------

### getLinkNameTree: Build link name tree from root joint

Source: https://moveit.picknik.ai/main/api/html/planning__groups_8cpp_source.html

Gets the root joint from the robot model and builds a link name tree starting from its child link model.

```cpp
LinkNameTree PlanningGroups::getLinkNameTree() const
{
  const moveit::core::JointModel* root_joint = srdf_config_->getRobotModel()->getRootJoint();
  return buildLinkNameTree(root_joint->getChildLinkModel());
}
```

--------------------------------

### Source the ROS 2 setup script

Source: https://moveit.picknik.ai/main/doc/tutorials/getting_started/getting_started.html

Source the ROS 2 environment for the installed version (e.g., Jazzy). This is a common step that users forget, and it is necessary before building MoveIt.

```bash
source /opt/ros/jazzy/setup.bash

```

--------------------------------

### Launch commands for sequence example

Source: https://moveit.picknik.ai/main/doc/how_to_guides/pilz_industrial_motion_planner/pilz_industrial_motion_planner.html

Run these commands in separate terminals to launch the MoveIt tutorial and the sequence example node.

```bash
ros2 launch moveit2_tutorials pilz_moveit.launch.py
ros2 run moveit2_tutorials pilz_sequence
```

--------------------------------

### Setup MoveGroupInterface and PlanningSceneInterface

Source: https://moveit.picknik.ai/main/doc/examples/move_group_interface/move_group_interface_tutorial.html

Setup for the MoveGroupInterface tutorial: defines the planning group name, creates the MoveGroupInterface and PlanningSceneInterface objects, and obtains a raw pointer to the JointModelGroup for improved performance.

```cpp
static const std::string PLANNING_GROUP = "panda_arm";

```

```cpp
moveit::planning_interface::MoveGroupInterface move_group(move_group_node, PLANNING_GROUP);

```

```cpp
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;

```

```cpp
const moveit::core::JointModelGroup* joint_model_group =
    move_group.getCurrentState()->getJointModelGroup(PLANNING_GROUP);

```

--------------------------------

### Corrected planning example using current state

Source: https://moveit.picknik.ai/main/doc/examples/jupyter_notebook_prototyping/jupyter_notebook_prototyping_tutorial.html

Fixes the previous error by setting the start state to the current robot state using set_start_state_to_current_state(). The pose goal remains the same, and the plan_and_execute helper is called.

```python
# set plan start state using predefined state
panda_arm.set_start_state_to_current_state()

# set goal using a pose message this time
pose_goal = PoseStamped()
pose_goal.header.frame_id = "panda_link0"
pose_goal.pose.orientation.w = 1.0
pose_goal.pose.position.x = 0.28
pose_goal.pose.position.y = -0.2
pose_goal.pose.position.z = 0.5
panda_arm.set_goal_state(pose_stamped_msg = pose_goal, pose_link = "panda_link8")

# plan to goal
plan_and_execute(panda, panda_arm)

```

--------------------------------

### Build the website locally with make html

Source: https://moveit.picknik.ai/main/doc/how_to_contribute/how_to_contribute_to_site.html

Run from the root directory of the moveit2_tutorials repo to build the site. Optionally use inotifywait to automatically rebuild on changes.

```bash
make html
# Or run the following lines if you want to automatically rebuild the website on new changes
while inotifywait -re modify,move,create,delete .; do
  make html
done
```

--------------------------------

### TrajectoryCache usage example

Source: https://moveit.picknik.ai/main/api/html/dir_3216b32ef45c7cf50894986c16c34ca7.html

Shows how to initialize the cache, get default features, fetch a cached trajectory, and insert a new plan on cache miss. Requires the warehouse_plugin ROS parameter to be set to a warehouse_ros plugin.

```cpp
auto cache = std::make_shared<TrajectoryCache>(node);
cache->init(/*db_host=*/":memory:", /*db_port=*/0, /*exact_match_precision=*/1e-6);
// The default feature extractors key the cache on starting robot state and goal constraints in the plan request.
// Keyed fuzzily with separate fuzziness on start and goal features.
auto default_features = TrajectoryCache::getDefaultFeatures(start_tolerance, goal_tolerance);
std::string TrajectoryCache::getDefaultSortFeature(); // Sorts by planned execution time.
move_group.setPoseTarget(...);
moveit_msgs::msg::MotionPlanRequest motion_plan_req_msg;
move_group.constructMotionPlanRequest(motion_plan_request_msg);
// Use the cache INSTEAD of planning!
auto fetched_trajectory =
cache->fetchBestMatchingTrajectory(*move_group_interface, robot_name, motion_plan_req_msg,
/*features=*/default_features,
/*sort_by=*/TrajectoryCache::getDefaultSortFeature(),
/*ascending=*/true);
if (fetched_trajectory) // Great! We got a cache hit, we can execute it.
{
move_group.execute(*fetched_trajectory);
}
else // Otherwise, plan... And put it for posterity!
{
moveit::planning_interface::MoveGroupInterface::Plan plan;
if (move_group.plan(plan) == moveit::core::MoveItErrorCode::SUCCESS)
{
cache->insertTrajectory(
*interface, robot_name, std::move(plan_req_msg), std::move(plan),
/*cache_insert_policy=*/BestSeenExecutionTimePolicy(),
/*prune_worse_trajectories=*/true, /*additional_features=*/{});
}
}
```

--------------------------------

### Launch planning_scene_ros_api_tutorial demo

Source: https://moveit.picknik.ai/main/doc/examples/planning_scene_ros_api/planning_scene_ros_api_tutorial.html

Runs the demo launch file for this tutorial. After a short moment, RViz appears and you can step through the demo using the Next button or Key Tool.

```bash
ros2 launch moveit2_tutorials planning_scene_ros_api_tutorial.launch.py

```

--------------------------------

### Setup MoveItCpp planning group and components

Source: https://moveit.picknik.ai/main/doc/examples/moveit_cpp/moveitcpp_tutorial.html

Defines the planning group and controller names, then initializes MoveItCpp, PlanningComponent, and retrieves the robot model and start state. Includes a sleep to ensure joint states are available.

```cpp
static const std::string PLANNING_GROUP = "panda_arm";
static const std::string LOGNAME = "moveit_cpp_tutorial";

```

```cpp
static const std::vector<std::string> CONTROLLERS(1, "panda_arm_controller");

/* Otherwise robot with zeros joint_states */
rclcpp::sleep_for(std::chrono::seconds(1));

RCLCPP_INFO(LOGGER, "Starting MoveIt Tutorials...");

auto moveit_cpp_ptr = std::make_shared<moveit_cpp::MoveItCpp>(node);
moveit_cpp_ptr->getPlanningSceneMonitorNonConst()->providePlanningSceneService();

auto planning_components = std::make_shared<moveit_cpp::PlanningComponent>(PLANNING_GROUP, moveit_cpp_ptr);
auto robot_model_ptr = moveit_cpp_ptr->getRobotModel();
auto robot_start_state = planning_components->getStartState();
auto joint_model_group_ptr = robot_model_ptr->getJointModelGroup(PLANNING_GROUP);

```

--------------------------------

### get (non-template)

Source: https://moveit.picknik.ai/main/api/html/classmoveit__setup_1_1DataWarehouse.html

Retrieves a SetupConfig singleton by name and optional class.

```APIDOC
## SetupConfigPtr get(const std::string &config_name, std::string config_class="")

### Description
Gets the singleton for a given config name and class.

### Parameters
- **config_name** (std::string) - Required - The name of the configuration.
- **config_class** (std::string) - Optional - The class of the configuration.

### Returns
- **SetupConfigPtr** - The configuration singleton.

```

--------------------------------

### Set end effector to subframe and plan

Source: https://moveit.picknik.ai/main/doc/examples/subframes/subframes_tutorial.html

Sets the end effector link to a subframe (e.g., "cylinder/tip") to use subframes of attached objects. Includes commented examples and resets the end effector to a robot link when detaching. Then sets start state and pose target.

```cpp
group.clearPoseTargets();
group.setEndEffectorLink(end_effector_link);
/*
group.setEndEffectorLink("cylinder/tip");    // Example 1
group.setEndEffectorLink("panda_hand");      // Example 2
*/
group.setStartStateToCurrentState();
group.setPoseTarget(pose);

```

--------------------------------

### SetupStep::initialize

Source: https://moveit.picknik.ai/main/api/html/classmoveit__setup_1_1SetupStep.html

Called after construction to initialize the step with a parent node and configuration data.

```APIDOC
## SetupStep::initialize

### Description
Called after construction to initialize the step with the parent node and configuration data.

### Method
initialize

### Parameters
- **parent_node** (rclcpp::Node::SharedPtr) - The parent ROS 2 node.
- **config_data** (DataWarehousePtr) - The configuration data warehouse.

### Returns
void
```

--------------------------------

### Run Isaac Sim launch script

Source: https://moveit.picknik.ai/main/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.html

Run the Python script to load the Panda robot pre-configured for this tutorial. Assumes Isaac Sim is installed in $HOME/isaacsim (Isaac Sim 4.5) or $HOME/.local/share/ov/pkg/ (Isaac Sim 4.2 and older). Takes a few minutes to download assets and setup Isaac Sim.

```bash
./python.sh isaac_moveit.py

```

--------------------------------

### DefaultCollisionsWidget constructor - UI setup

Source: https://moveit.picknik.ai/main/api/html/default__collisions__widget_8cpp_source.html

Builds the widget's UI: adds a fraction spinbox, generate button, progress bar, table, header actions, bottom controls (link filter, checkbox, view mode buttons, revert button), and sets the window title. Also installs an event filter on the table.

```cpp
122 buttons_layout->addWidget(fraction_label_);
123
124 fraction_spinbox_ = new QSpinBox(this);
125 fraction_spinbox_->setRange(1, 100);
126 fraction_spinbox_->setValue(95);
127 fraction_spinbox_->setSuffix("%");
128 buttons_layout->addWidget(fraction_spinbox_);
129
130 // Generate Button
131 btn_generate_ = new QPushButton(this);
132 btn_generate_->setText("&Generate Collision Matrix");
133 btn_generate_->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
134 connect(btn_generate_, SIGNAL(clicked()), this, SLOT(startGeneratingCollisionTable()));
135 buttons_layout->addWidget(btn_generate_);
136
137 // Progress Bar Area ---------------------------------------------
138
139 // Progress Label
140 progress_label_ = new QLabel(this);
141 progress_label_->setText("Generating Default Collision Matrix");
142 progress_label_->hide();
143 layout_->addWidget(progress_label_);
144
145 // Progress Bar
146 progress_bar_ = new QProgressBar(this);
147 progress_bar_->setMaximum(100);
148 progress_bar_->setMinimum(0);
149 progress_bar_->hide(); // only show when computation begins
150 layout_->addWidget(progress_bar_);
151
152 // Table Area --------------------------------------------
153
154 // Table
155 collision_table_ = new QTableView(this);
156 layout_->addWidget(collision_table_);
157
158 QAction* action;
159 action = new QAction(tr("Show"), this);
160 header_actions_ << action;
161 connect(action, SIGNAL(triggered()), this, SLOT(showSections()));
162 action = new QAction(tr("Hide"), this);
163 header_actions_ << action;
164 connect(action, SIGNAL(triggered()), this, SLOT(hideSections()));
165 action = new QAction(tr("Hide others"), this);
166 header_actions_ << action;
167 connect(action, SIGNAL(triggered()), this, SLOT(hideOtherSections()));
168
169 // Bottom Area ----------------------------------------
170
171 QHBoxLayout* bottom_layout = new QHBoxLayout();
172 bottom_layout->setAlignment(Qt::AlignRight);
173 layout_->addLayout(bottom_layout);
174
175 // Link Filter QLineEdit
176 link_name_filter_ = new QLineEdit(this);
177 link_name_filter_->setPlaceholderText("link name filter");
178 bottom_layout->addWidget(link_name_filter_);
179
180 // Collision Filter Checkbox
181 collision_checkbox_ = new QCheckBox(this);
182 collision_checkbox_->setText("show enabled pairs");
183 connect(collision_checkbox_, SIGNAL(toggled(bool)), this, SLOT(checkedFilterChanged()));
184 bottom_layout->addWidget(collision_checkbox_);
185
186 // View Mode Buttons
187 view_mode_buttons_ = new QButtonGroup(this);
188 QRadioButton* radio_btn;
189 radio_btn = new QRadioButton("linear view");
190 bottom_layout->addWidget(radio_btn);
191 view_mode_buttons_->addButton(radio_btn, LINEAR_MODE);
192 radio_btn->setChecked(true);
193
194 radio_btn = new QRadioButton("matrix view");
195 bottom_layout->addWidget(radio_btn);
196 view_mode_buttons_->addButton(radio_btn, MATRIX_MODE);
197 connect(view_mode_buttons_, SIGNAL(buttonClicked(int)), this, SLOT(loadCollisionTable()));
198
199 // Revert Button
200 btn_revert_ = new QPushButton(this);
201 btn_revert_->setText("&Revert");
202 btn_revert_->setToolTip("Revert current changes to collision matrix");
203 btn_revert_->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
204 btn_revert_->setDisabled(true);
205 connect(btn_revert_, SIGNAL(clicked()), this, SLOT(revertChanges()));
206 bottom_layout->addWidget(btn_revert_);
207
208 setLayout(layout_);
209 setWindowTitle("Default Collision Matrix");
210
211 collision_table_->installEventFilter(this);
212}
```

--------------------------------

### Visualize gripper parameters demo

Source: https://moveit.picknik.ai/main/doc/examples/moveit_grasps/moveit_grasps_tutorial.html

Launch the demo to visualize gripper-specific parameters.

```bash
roslaunch moveit_grasps grasp_poses_visualizer_demo.launch

```
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