MoveIt Pro SDK

This repository provides an SDK that can be used with MoveIt Pro. The SDK can be used in the MoveIt Pro Agent container, or separately on a ROS 2 enabled system. To test using the SDK and MoveIt Pro separately, take a look at the Docker setup below.

The full documentation for MoveIt Pro and the MoveIt Pro SDK is hosted at https://docs.picknik.ai/en/stable/index.html.

Docker setup for testing the MoveIt Pro SDK in a separate container

The Docker workflow outlined here provides a way to test the MoveIt Pro SDK in isolation from MoveIt Pro.

First, build the image if you haven't already. This image will install the MoveIt Pro SDK for you:

docker compose build

Start MoveIt Pro if it isn't running already, making note of the ROS_DOMAIN_ID that's being used. The MoveIt Pro SDK Docker image being used here expects MoveIt Pro to use the default Cyclone DDS configuration.

Next, set the ROS_DOMAIN_ID environment variable in the terminal where you plan to start the MoveIt Pro SDK container. The ROS_DOMAIN_ID being set here should match the ROS_DOMAIN_ID you are using for MoveIt Pro.

Once the Docker image is built and the ROS_DOMAIN_ID is set, start a container:

docker compose run --rm moveit_studio_sdk_standalone

You should now be at a terminal inside of the SDK container. To ensure that the SDK container can communicate with MoveIt Pro, run:

ros2 service list

You should see a list of MoveIt Pro services.

Let's now test the SDK to see if we can execute and cancel MoveIt Pro Objectives. There are three example scripts provided:

• start_blocking.py: starts an Objective and waits until the Objective finishes execution.
• start_stop_async.py: starts an Objective, waits for a user-defined number of seconds, and then cancels the running Objective.
• move_to_waypoint.py: runs the "Move to Waypoint" Objective, using a parameter override to set the waypoint to move to.

To run the Open Gripper Objective, let's use start_blocking.py since this Objective shouldn't take long to complete:

ros2 run moveit_studio_py start_blocking.py "Open Gripper"

To run the 3 Waypoints Pick and Place Objective, let's use start_stop_async.py since this Objective runs indefinitely. We will let this Objective run for 10 seconds:

ros2 run moveit_studio_py start_stop_async.py "3 Waypoints Pick and Place" 10

To run the move_to_waypoint.py example, a valid waypoint must be provided. A list of pre-defined waypoints can be found in the ui's "Endpoint" tab. The following command would move the robot arm to the Look at Left Table waypoint:

ros2 run moveit_studio_py move_to_waypoint.py "Look at Left Table"

If you look at the Objectives tab in the web app, you should see these Objectives starting and stopping successfully.