MoveIt Integration#

SRMP MoveIt! Plugin Demo#

SRMP MoveIt! Plugin Demo

SRMP provides seamless integration with MoveIt through a plugin. We provide two ways to set up SRMP with MoveIt! The first is a pre-configured Docker container. This package contains everything you need to run SRMP with MoveIt, including the SRMP libraries, MoveIt planners, and a pre-built user workspace. The second is a ROS package that you can install and use in your existing ROS workspace. Let’s start with the Docker container.

Dockerized SRMP MoveIt! Plugin#

Download Docker Package#

You can download the complete SRMP MoveIt! Docker package here:

📦 Download SRMP Docker Package

Size: ~44MB | Includes MoveIt, SRMP libraries, and pre-built workspace

What’s Included#

  • MoveIt: Complete MoveIt installation with all planners and tools (ROS, Ubuntu 20.04)

  • SRMP Libraries: Full SRMP implementation with MoveIt plugin

  • User Workspace: Pre-built workspace with SRMP MoveIt plugin and resources

  • RViz: ROS visualization tool for robot simulation

  • Robot Configuration: Panda robot configuration for testing and development

Quick Start#

Prerequisites#

  • Docker installed on your system

Installation Steps#

  1. Extract the package:
    unzip srmp-docker.zip
cd docker_release
  2. Build the Docker image:
    ./build-srmp-docker.sh

    Note

    This may take 10-15 minutes on first build as it downloads and compiles all dependencies.

  3. Run the container:
    ./run-srmp-docker.sh
  4. Set up the workspace (inside the container):
    # Navigate to the workspace
cd /workspace/srmp_user_ws

# Build the workspace
catkin build

# Source the workspace
source devel/setup.bash
  5. Test SRMP with MoveIt: this command will start the MoveIt! demo with the Panda robot and show RViz.
    # Launch the demo with Panda robot
roslaunch panda_two_moveit_config demo.launch

Once the container is running and the workspace is set up, you can use SRMP for motion planning:

Installing the SRMP MoveIt! Plugin Locally (No Docker)#

While the Docker solution is simpler and (likely) easier to use, we also provide a debian package that you can install and use in your existing ROS workspace.

Download Local Package#

You can download the SRMP MoveIt! local installation package here:

📦 Download SRMP Local Package

Size: ~44MB | Includes SRMP debian package and workspace

Prerequisites#

  • Ubuntu 20.04 (required for compatibility)

  • ROS Noetic installed and configured

  • MoveIt! installed in your ROS workspace

  • Standard ROS development tools (catkin, rosdep, etc.)

Installation Steps#

  1. Extract the package:
    unzip srmp-local.zip
cd local_release
  2. Install the SRMP debian package:
    sudo dpkg -i srmp-moveit-plugin_*.deb
  3. Navigate to the provided workspace:
    cd srmp_user_ws
  4. Build the workspace:
    catkin build
  5. Source the workspace:
    source devel/setup.bash
  6. Test SRMP with MoveIt:
    # Launch the demo with Panda robot
roslaunch panda_two_moveit_config demo.launch