Courses / programming

ROS 2 Manipulation

advanced~18 hours13 lessonsEnvironment: docker

Prerequisites: ros2-perception, arm-kinematics

Start: MoveIt architecturePractice questions

Modules

Module 1 — MoveIt 2 fundamentals
  1. 1MoveIt architecture
  2. 2Setup assistant with a simulated arm
  3. 3Planning in RViz
Module 2 — Programmatic motion
  1. 1MoveGroup API
  2. 2Joint-space vs Cartesian goals
  3. 3Cartesian paths
Module 3 — The planning scene
  1. 1Collision objects
  2. 2Attaching and detaching objects
  3. 3Constraints
Module 4 — Pick and place
  1. 1Grasp poses and approach vectors
  2. 2The full pick-and-place pipeline
  3. 3Using perception for grasp targets
  4. 4Project: sort detected objects by color

Textbooks

Video resources

  • MoveIt 2 tutorials — PickNik Robotics