Get an in-depth look at the interbotix_xsarm_moveit ROS 2 package. This package contains configuration and launch files to start up the MoveIt2 Motion Planning program for the Interbotix X-Series Arms. This package can be used with real, fake, or Gazebo-simulated hardware.

Learning Outcomes

- Know the contents of the xsarm_moveit package
- Know how to use the xsarm_moveit package to do motion planning and execution for the Interbotix X-Series Arm on real, fake, and Gazebo-simulated hardware

Package Documentation:
https://www.trossenrobotics.com/docs/...

Package Source:
https://github.com/Interbotix/interbo...

Learn More About Trossen Robotics: https://linktr.ee/interbotix

0:00 Intro
0:44 Controller Configuration
1:12 srdf (semantic robot description format)
2:49 Joint Limit Files
3:04 Chomp Planning Configuration
3:09 Kinematics Configuration
3:24 Modes Configuration
4:01 Launch File
5:16 Launch Tree Structure
6:46 Launching with Moveit2
8:23 Launching with Gazebo
9:58 Launching "Fake" Hardware
10:33 Conclusion