Easy Motion

This repository is initially developed for DRIMS2 Summer School as a simplified interface for planinng and control, and provides a motion control stack based on ROS 2 and MoveIt (through Pymoveit2). It includes behavior tree integration, motion command interfaces, and an action server for handling motion requests.

Repository Structure

This repository contains the following ROS 2 packages:

• easy_motion_msgs
  Contains the ROS 2 interface definitions for motion commands. Key interfaces include:

  • Actions:
    • MoveToPose
    • MoveToJoint
  • Services:
    • AttachObject
    • DetachObject
    • DiceIdentification

• easy_motion
  Implements the motion action/service server that:

  • Receives MoveToPose and MoveToJoint requests.
  • Handles AttachObject and DetachObject service calls.
  • Interfaces with MoveIt to plan and execute robot motions.

  🔗 Documentation

• easy_motion_behavior_tree
  Integrates a Behavior Tree engine to control task execution. This package contains:

  • Custom leaf nodes for motion commands.
  • Logic for behavior tree loading and execution.

Getting Started

Clone the Repository

mkdir -p ~/projects/easy_ws/src
cd ~/projects/easy_ws/src
git clone https://github.com/CNR-STIIMA-IRAS/easy_motion.git
vcs import < easy_motion/dependencies.repos