Struggling with moveit_py, looking for a working example

[liborw]

Hello, I'm looking for an example using moveit_py, as Im strugling with passing the configuration to the moveit node.

I have lanuchfile that is basically updated hello_moveit .launch.py from the demos.

from typing import List

from launch import LaunchContext, LaunchDescription, LaunchDescriptionEntity
from launch.actions import OpaqueFunction
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from lbr_bringup.description import LBRDescriptionMixin
from lbr_bringup.moveit import LBRMoveGroupMixin


def hidden_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
    ld = LaunchDescription()

    model = LaunchConfiguration("model").perform(context)
    mode = LaunchConfiguration("mode").perform(context)
    use_sim_time = False
    if mode == "gazebo":
        use_sim_time = True

    # generate moveit configs
    moveit_configs = LBRMoveGroupMixin.moveit_configs_builder(
        robot_name=model,
        package_name=f"{model}_moveit_config",
    )

    # launch demo node
    ld.add_action(
        Node(
            package="spray_gym_ros",
            executable="hello_moveit",
            parameters=[
                moveit_configs.to_dict(),
                {"use_sim_time": use_sim_time},
                LBRDescriptionMixin.param_robot_name(),
            ],
        )
    )
    return ld.entities


def generate_launch_description() -> LaunchDescription:
    ld = LaunchDescription()

    ld.add_action(LBRDescriptionMixin.arg_model())
    ld.add_action(LBRDescriptionMixin.arg_mode())

    ld.add_action(OpaqueFunction(function=hidden_setup))

    return ld

and node that should plan some trajectories updated moveit demo from moveit2_tutorials:

#!/usr/bin/env python3
import time
import rclpy
from rclpy.logging import get_logger

from moveit.core.robot_state import RobotState
from moveit.planning import (
    MoveItPy,
    MultiPipelinePlanRequestParameters,
)

def main():

    ###################################################################
    # MoveItPy Setup
    ###################################################################
    rclpy.init()
    logger = get_logger("moveit_py.pose_goal")

    # instantiate MoveItPy instance and get planning component
    robot = MoveItPy(node_name="moveit_py")
    robot_arm = robot.get_planning_component("arm")
    logger.info("MoveItPy instance created")
...

But I get error about missing planner configurations, and the initialization of MoveItPy node, fails:

/workspace$ ros2 launch spray_gym_ros hello_moveit.launch.py     mode:=mock     model:=iiwa7
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2026-02-18-11-11-15-825048-wagnelib-4486
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [hello_moveit-1]: process started with pid [4489]
[hello_moveit-1] [INFO] [1771413076.136491432] [moveit_60024099.moveit.py.cpp_initializer]: Initialize rclcpp
[hello_moveit-1] [INFO] [1771413076.136525525] [moveit_60024099.moveit.py.cpp_initializer]: Initialize node parameters
[hello_moveit-1] [INFO] [1771413076.136533196] [moveit_60024099.moveit.py.cpp_initializer]: Initialize node and executor
[hello_moveit-1] [INFO] [1771413076.141406627] [moveit_60024099.moveit.py.cpp_initializer]: Spin separate thread
[hello_moveit-1] [INFO] [1771413076.142982233] [moveit_60024099.moveit.ros.rdf_loader]: Loaded robot model in 0.00147871 seconds
[hello_moveit-1] [INFO] [1771413076.143006356] [moveit_60024099.moveit.core.robot_model]: Loading robot model 'iiwa7'...
[hello_moveit-1] [INFO] [1771413076.143013936] [moveit_60024099.moveit.core.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[hello_moveit-1] [INFO] [1771413076.147374376] [moveit_60024099.moveit.kinematics.kdl_kinematics_plugin]: Joint weights for group 'arm': 1 1 1 1 1 1 1
[hello_moveit-1] [INFO] [1771413076.167286810] [moveit_60024099.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[hello_moveit-1] [INFO] [1771413076.167350782] [moveit_60024099.moveit.ros.moveit_cpp]: Listening to 'joint_states' for joint states
[hello_moveit-1] [INFO] [1771413076.167826474] [moveit_60024099.moveit.ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[hello_moveit-1] [INFO] [1771413076.168120769] [moveit_60024099.moveit.ros.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[hello_moveit-1] [INFO] [1771413076.168134199] [moveit_60024099.moveit.ros.planning_scene_monitor]: Stopping existing planning scene publisher.
[hello_moveit-1] [INFO] [1771413076.168183330] [moveit_60024099.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene.
[hello_moveit-1] [INFO] [1771413076.168359361] [moveit_60024099.moveit.ros.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[hello_moveit-1] [INFO] [1771413076.168403357] [moveit_60024099.moveit.ros.planning_scene_monitor]: Starting planning scene monitor
[hello_moveit-1] [INFO] [1771413076.168758079] [moveit_60024099.moveit.ros.planning_scene_monitor]: Listening to '/planning_scene'
[hello_moveit-1] [INFO] [1771413076.168772947] [moveit_60024099.moveit.ros.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[hello_moveit-1] [INFO] [1771413076.168986781] [moveit_60024099.moveit.ros.planning_scene_monitor]: Listening to 'collision_object'
[hello_moveit-1] [INFO] [1771413076.169207292] [moveit_60024099.moveit.ros.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[hello_moveit-1] [WARN] [1771413076.169298728] [moveit_60024099.moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[hello_moveit-1] [ERROR] [1771413076.169310715] [moveit_60024099.moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
[hello_moveit-1] [ERROR] [1771413076.170134890] [moveit_60024099.moveit.ros.moveit_cpp]: Failed to load any planning pipelines.
[hello_moveit-1] [FATAL] [1771413076.170154288] [moveit_60024099.moveit.ros.moveit_cpp]: Failed to load planning pipelines from parameter server
[hello_moveit-1] [INFO] [1771413076.170214686] [moveit_60024099.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene.
[hello_moveit-1] [INFO] [1771413076.170223095] [moveit_60024099.moveit.ros.planning_scene_monitor]: Stopping world geometry monitor
[hello_moveit-1] [INFO] [1771413076.170226028] [moveit_60024099.moveit.ros.planning_scene_monitor]: Stopping planning scene monitor
[hello_moveit-1] Traceback (most recent call last):
[hello_moveit-1]   File "/workspace/install/spray_gym_ros/lib/spray_gym_ros/hello_moveit", line 33, in <module>
[hello_moveit-1]     sys.exit(load_entry_point('spray-gym-ros', 'console_scripts', 'hello_moveit')())
[hello_moveit-1]              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[hello_moveit-1]   File "/workspace/build/spray_gym_ros/spray_gym_ros/hello_moveit.py", line 30, in main
[hello_moveit-1]     robot = MoveItPy(node_name="moveit_py")
[hello_moveit-1]             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[hello_moveit-1] RuntimeError: Failed to load planning pipelines from parameter server
[ERROR] [hello_moveit-1]: process has died [pid 4489, exit code 1, cmd '/workspace/install/spray_gym_ros/lib/spray_gym_ros/hello_moveit --ros-args --params-file /tmp/launch_params_vugoqgr1 --params-file /tmp/launch_params_lluoc8qn --params-file /tmp/launch_params_bupqitrb'].

[mhubii]

thanks for sharing and sorry for the late response @liborw. I'll have a look.

[mhubii]

sorry just had a brief look, can't get it to run either quickly. The moveit configs and moveit launch files in this repo probably need an update, apologies