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MoveIt Configuration Package

This package contains MoveIt configuration files for robotic motion planning and control of the KUKA LBR Med7 arm with da Vinci PSM tool integration.

Description

This is a MoveIt configuration package generated using the MoveIt Setup Assistant for robotic arm motion planning. It includes all necessary configuration files for:

  • Motion planning parameters and algorithms
  • Joint limits and kinematics configuration
  • Planning scene and collision detection setup
  • Launch files for MoveIt planning execution
  • RViz visualization configuration

Dependencies

  • ROS 2 Humble
  • MoveIt 2
  • da_vinci_tool_integration package (robot description)
  • Standard ROS 2 packages: robot_state_publisher, joint_state_publisher_gui, rviz2

Usage

Launch the MoveIt planning execution with:

# Launch MoveIt demo (includes RViz)
ros2 launch moveit_config demo.launch.py

# Launch MoveIt move_group server only
ros2 launch moveit_config move_group.launch.py

# Launch RViz with MoveIt plugin
ros2 launch moveit_config moveit_rviz.launch.py

Package Structure

  • config/ - Configuration files for MoveIt planning
    • joint_limits.yaml - Joint velocity and acceleration limits
    • kinematics.yaml - Kinematics solver configuration
    • moveit_controllers.yaml - Controller configuration
    • *.srdf - Semantic robot description
    • *.urdf.xacro - Robot description with MoveIt additions
  • launch/ - Launch files for starting MoveIt components
    • demo.launch.py - Complete MoveIt demo with RViz
    • move_group.launch.py - MoveIt planning server
    • moveit_rviz.launch.py - RViz with MoveIt plugin
  • .setup_assistant - MoveIt Setup Assistant configuration

Robot Configuration

This configuration is specifically designed for:

  • Robot: KUKA LBR Med7 arm
  • End-effector: da Vinci PSM tool with adaptor
  • Planning Group: Complete arm chain for motion planning
  • Kinematics Solver: Configured for 7-DOF arm kinematics

Notes

  • This package was generated using the MoveIt Setup Assistant
  • Requires the da_vinci_tool_integration package for robot description
  • Configured for simulation and real robot control
  • Planning algorithms and parameters are optimized for surgical robotics applications

License

MIT License (or your chosen license)

Contact

For questions or contributions, open an issue or pull request on GitHub.