ros2-moveit

# MoveIt 2 Motion Planning Instructions (Ubuntu 24.04 LTS & ROS 2 Jazzy) ## 1. Architecture MoveIt 2 provides motion planning, IK, collision checking, 3D perception (OctoMap), and real-time servoing via `moveit_servo` (`servo_node`); path planning goes through `MoveGroupInterface`. ## 2. Documentation Entry Points | For | Entry point | | :--- | :--- | | Concepts (move_group, kinematics, motion planning) + examples | `https://moveit.picknik.ai/main/index.html` | | C++ API reference | `https://moveit.picknik.ai/main/doc/api/cpp_api/api.html` | | Python API reference | `https://moveit.picknik.ai/main/doc/api/python_api/api.html` | ## 3. Key C++ Usage Patterns ### A. MoveGroupInterface Pose Target Planning ```cpp #include <moveit/move_group_interface/move_group_interface.hpp> // Jazzy (MoveIt 2.10+): .hpp headers; legacy .h is deprecated rclcpp::NodeOptions node_options; node_options.automatically_declare_parameters_from_overrides(true); auto node = std::make_shared<rclcpp::Node>("arm_planner", node_options); moveit::planning_interface::MoveGroupInterface move_group(node, "arm"); geometry_msgs::msg::Pose target_pose; target_pose.orientation.w = 1.0; target_pose.position.x = 0.28; target_pose.position.y = -0.2; target_pose.position.z = 0.5; move_group.setPoseTarget(target_pose); moveit::planning_interface::MoveGroupInterface::Plan my_plan; bool success = (move_group.plan(my_plan) == moveit::core::MoveItErrorCode::SUCCESS); if (success) { move_group.execute(my_plan); ...