Ros 2 Moveit 2 - Control A Robotic Arm

Create your own 6 axis robotic arm and control it with ROS 2 and MoveIt 2 - Step by step, from URDF to Hardware

What you'll learn

Create a URDF for a 6 axis robotic arm

Configure a robot for MoveIt 2 with the MoveIt Setup Assistant

Control the robot with the MoveIt C++ and Python API

Add a Gripper to the robot and configure it with MoveIt

Create a launch file to start your entire application

Make the bridge between MoveIt and your hardware, using ros2_control

Practice with extra activities and challenges

Requirements

Ubuntu 24.04 installed on your computer.

Some knowledge of ROS 2: nodes, topics, command line, URDF, etc.

If you are just getting started with ROS 2, better to start with the ROS 2 for beginners series.

No hardware required - you can follow the entire course with a simulation.

Description

You have learned ROS 2 basics and want to work on robotic arms, using MoveIt 2?And maybe you’ve already started but you feel completely lost?In this course you will understand all the required steps to properly configure a robotic arm for MoveIt 2, by building a project by yourself, from scratch. At the end of the course you will be able to adapt this knowledge to your own projects.— Why this course?I know that learning MoveIt 2 can be a real nightmare. It’s hard to know where to start, how to do the configuration properly, and how to integrate it into your own ROS 2 application.There are so many steps and details to pay attention to, and online documentation usually assumes you have way more knowledge and teaches you like you’re an expert already, which can be discouraging.I’ve been there myself and I learned how to use MoveIt to control a 6 axis robotic arm, for the startup I co-funded in the past. So, I’m here to share with you this practical experience, used for a real robot that was sold in the real world.My goal is to provide you with a full step by step guide on how to set up and control a robotic arm with MoveIt.Also, I’m not just going to show you an existing robot and tell you “here is how it’s done”. We will start from scratch, and build our own custom 6 axis robotic arm, so you can learn how to replicate the steps for your own projects.— How do I teach?If you’ve taken other ROS 2 courses from me you know that I’m not here to waste your time.My teaching method is quite simple:Step by stepGoing to the pointLearn while doingAlso I strongly focus on the “why” behind what you learn. The goal is not just to make you blindly repeat some steps, but to understand why those steps matter.And don’t take my word for it - here are some reviews from fellow students/researchers/engineers/teachers who took my ROS 2 courses on Udemy:“Best course on ROS2 I’ve taken! Other courses (different sites/platforms) made it confusing but this course makes it so clear and easy to understand while letting you try on your own. I am definitely learning a lot in a painless and simple way. I should have gotten this course from the beginning.” - Miguel Martinez G.“Overall very satisfied. I’ve a strong background in programming, but at a higher level (web mostly) and the elegant, fluent and clean approach of this course has leveraged my introduction to the ROS environment in a short amount of time, without the struggle of going through a lot of documentation” - Devis D.“This is the best course in ROS2 I’ve ever seen” - Aleksandar K.“Great course content, straight to the point and very easy to follow” - Kevin M.— What will you do and learn in the course?This course is 100% project based. We will start from an empty project and build everything step by step, together.You will:Install ROS 2 and MoveIt 2Create a URDF for a 6 axis robotic armConfigure this robot for MoveIt 2, using the MoveIt Setup AssistantAdd a gripper to the armCreate a bringup package with a launch file, to start your applicationControl the arm and gripper with the MoveIt API (C++ and Python)Get the steps on how to connect MoveIt with your own hardware, using ros2_controlEach section is built on top of the previous ones, and you will reinforce what you’ve learned with extra challenges to practice more.You will learn by doing, and you will be able to download the code at the end of each section, so you can use it as a template for your own projects.So, to learn how to control a robotic arm with MoveIt 2 and ROS 2, wait no more and enroll in the course today!You don’t take any risk as you get a 30-day money back guarantee if you’re not fully satisfied - no questions asked.See you in the course!Note - this course is not for you if:You have never worked with ROS 2 before. You will need ROS 2 basics to understand this course.

Overview

Section 1: Introduction

Lecture 1 Welcome!

Lecture 2 What is MoveIt 2, and Why Do We Need It?

Lecture 3 How to get the most out of this course

Section 2: Setup and Installation for ROS2 and Moveit2

Lecture 4 Intro

Lecture 5 Install and Setup ROS 2 on Ubuntu 24.04

Lecture 6 Install MoveIt 2

Lecture 7 Tools for the Course

Section 3: Create a URDF for a 6-axis Robotic Arm

Lecture 8 Intro

Lecture 9 Create a Description Package

Lecture 10 First Link - Create and Set Up the URDF

Lecture 11 Second link - Recap of the Process to Add Links Together

Lecture 12 Activity 01 - Finish the URDF for the Arm

Lecture 13 Activity 01 - Solution

Lecture 14 Improve the URDF with Xacro

Lecture 15 Create a Launch File to Display the Robot

Section 4: Set Up Your Robot for MoveIt

Lecture 16 Intro

Lecture 17 Activity 02 - Add Collision Tags

Lecture 18 Activity 02 - Solution

Lecture 19 Run the MoveIt Setup Assistant

Lecture 20 Files Overview

Lecture 21 Start the MoveIt Demo Launch File

Section 5: Add a Gripper to the Arm

Lecture 22 Intro

Lecture 23 Create a URDF for a Gripper

Lecture 24 Connect the Gripper to the Arm

Lecture 25 Activity 03 - Add the Gripper to the MoveIt Config

Lecture 26 Activity 03 - Solution

Section 6: Bringup Package

Lecture 27 Intro

Lecture 28 Create and Set Up the Bringup Package

Lecture 29 Start Everything From the Terminal

Lecture 30 Activity 04 - Write the Launch File

Lecture 31 Activity 04 - Solution

Section 7: Interact with Moveit using the C++ API

Lecture 32 Intro

Lecture 33 Make the Arm Move with the MoveIt C++ API

Lecture 34 Joint and Pose Goal - C++

Lecture 35 Cartesian Path

Lecture 36 Integrate the C++ API inside an OOP node - Setup

Lecture 37 Integrate the C++ API inside an OOP node - Methods

Lecture 38 Add a Topic Subscriber

Lecture 39 Activity 05 - Add Subscribers for Joint and Pose Commands

Lecture 40 Activity 05 - Solution [1/2]

Lecture 41 Activity 05 - Solution [2/2]

Section 8: Interact with Moveit using the Python API

Lecture 42 Intro

Lecture 43 Make the Arm Move with the MoveIt Python API

Lecture 44 Joint and Pose Goal - Python

Lecture 45 Integrate the Python API inside an OOP Node

Lecture 46 Add Topic Subscribers

Section 9: Connect MoveIt to the Hardware

Lecture 47 Intro

Lecture 48 ros2_control Quick Recap and the Hardware I Will Use

Lecture 49 my_robot_hardware Package Overview

Lecture 50 Use the Hardware Interface in the URDF

Lecture 51 Switch Between Real Robot and Mock Component

Section 10: Conclusion

Lecture 52 What to do next

Lecture 53 Bonus Lecture

ROS developers who want to learn how to use MoveIt2,Anyone lost in the ROS 2 MoveIt documentation,Engineers/Teachers/Researchers/Teachers interested in controlling robotic arms with ROS 2