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Introduction to ROS2 + MoveIt2

Robotics applications require a robust middleware for communication and a flexible planning framework for motion. This page introduces:

  • ROS 2: The next-generation Robot Operating System, offering improved real-time support, security, and cross-platform compatibility.
  • MoveIt 2: A powerful motion-planning framework built on ROS 2 that simplifies robot kinematics, collision checking, and trajectory execution.

What Is ROS 2?​

ROS 2 provides:

  • Decoupled Communication: Pub/sub, services, and actions over DDS.
  • Real-Time Support: Designed for deterministic execution with real-time operating systems.
  • Multi-Platform: Runs on Linux, Windows, and macOS.
  • Security: Built-in authentication, encryption, and access control.

Learn more: docs.ros.org

What Is MoveIt 2?​

MoveIt 2 extends ROS 2 to offer:

  • Kinematics: Forward and inverse solutions for serial manipulators.
  • Motion Planning: Integrates OMPL for sampling-based planners.
  • Collision Checking: Continuous and discrete checks using FCL.
  • Trajectories: Smooth path interpolation and execution via ROS 2 control.

Learn more: moveit.picknik.ai

Why Combine ROS 2 & MoveIt 2?​

By pairing ROS 2 with MoveIt 2, you gain:

  • Seamless Integration: Use ROS 2’s node graph to coordinate perception, planning, and control.
  • Scalability: Deploy on single boards (e.g., Jetson) or distributed systems.
  • Community & Support: Leverage extensive tutorials, packages, and forums.

Prerequisites​