neo_ur_moveit_config

Summary

neo_ur_moveit_config is a ROS 2 package that provides a MoveIt2 configuration for the MMO (MPO with arms) robots from Neobotix. It includes a MoveIt2 configuration package and a launch file to start the MoveIt2 configuration.

As of February 2024, this package includes all the necessary configuration for the robot with MPO-700 and UR10 / UR5e combinations.

Coming soon.. The following packages are currently in the planning stage:

  • mpo_700 + Elite arms
  • mpo_500 + UR arms
  • mpo_500 + Elite arms

The package can be found here: https://github.com/neobotix/neo_mpo_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 MMO robot description and the necessary configuration for the UR arm with MPO-700 providing the necessary cushion for collision avoidance of the arm with the mobile platform.

../_images/mpo_700_moveit.png

launch

To start the MoveIt2 configuration, run the following command:

ros2 launch neo_ur_moveit_config neo_ur_moveit.launch.py ur_type:=urX prefix:=urX gripper:=epick

Please replace urX with the actual UR arm name. For example, if the platform is mounted with UR5 arm, replace urX with ur5.

If you have a 2f_140 gripper replace the option accordingly.

Note

In order to send goals to the gripper from RViz. It is essential to change the planning group in the motion planning plugin to gripper under the planning tab.

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.