neo_rox_moveit2

Summary

neo_rox_moveit_config is a ROS 2 package that provides a MoveIt2 configuration for the EMROX robots from Neobotix. It includes a MoveIt2 configuration package and a launch file to start the MoveIt2 configuration.

As of November 2024, this package includes all the necessary configuration for the robot with EMROX and universal robot combinations.

The package can be found here: https://github.com/neobotix/neo_rox_moveit2/

Note

This package was heavily adapted from the ur_moveit_config.

The major difference from the original package is the addition of the Neobotix EMROX robot description and the necessary configuration for the UR arm with EMROX providing the necessary cushion for collision avoidance of the arm with the mobile platform.

Launch

To start the MoveIt2 configuration, run the following command:

Real Robot

ros2 launch neo_rox_moveit2 neo_ur_moveit.launch.py ur_type:=urX prefix:=urX use_sim_time:=False use_ur_dc:=False launch_rviz:=True

Attention

Please check your UR robot type if it is a DC variant and then set the use_ur_dc variant to True

Simulation

ros2 launch neo_rox_moveit2 neo_ur_moveit.launch.py ur_type:=ur10e use_sim_time:=True use_fake_hardware:=true prefix:=ur10 use_ur_dc:=False launch_rviz:=True

Please replace urX with the actual UR arm name. For example, if the platform is mounted with UR5e arm, replace urX with ur5e.

The launch file will start the MoveIt2 configuration and the RViz visualization tool. The RViz window will show the robot model and the MoveIt2 plugin for motion planning.

Please refer to MoveIt2 documentation for more detailed information about planning and execution of motion for the robot arms.