Moveit2 - 1. Start

Catalog

install ROS 2 and Colcon

Create a workspace and download tutorials

download Moveit2 Tutorial source code

Compile workspace

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• install ROS 2 and Colcon

First source once ROS2, Can be written directly into .bashrc In file , You don't have to do it every time source.

source /opt/ros/foxy/setup.bash

install Colcon And from the colcon mixin

sudo apt install python3-colcon-common-extensions
sudo apt install python3-colcon-mixin
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default

install  vcstool

sudo apt install python3-vcstool

•   Create a workspace and download tutorials

Create a workspace

•   download Moveit2 Tutorial source code

Move to the workspace and download  MoveIt 2 Tutorial source code ：

cd /ws_moveit2/src
git clone https://github.com/ros-planning/moveit2_tutorials.git -b foxy
vcs import < moveit2_tutorials/moveit2_tutorials.repos

• Compile workspace

Install dependencies

sudo apt update && rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y

Fish flavored rosdepc You can put the... In the order rosdep Switch to rosdepc

Next, configure the workspace

cd ~/ws_moveit2
colcon build --mixin release

source Next workspace

source ~/ws_moveit2/install/setup.bash