MoveIt 2 Logo

MoveIt2 Integration

MoveIt 2 provides motion planning, collision checking, and interactive manipulation capabilities for Doosan robots using the ROS 2 control stack.

Note

MoveIt 2 integration requires the following minimum Doosan Controller firmware versions:

  • Firmware 2.x: Version 2.12 or higher

  • Firmware 3.x: Version 3.4 or higher

Command

ros2 launch dsr_bringup2 dsr_bringup2_moveit.launch.py [arguments]

Caution

The Gazebo/RViz2 GUI may not appear due to missing X11 permissions (especially when using Docker or a remote session). Run the commands below once per login (and after a reboot) before launching.

xhost +                         # allow everyone; use only temporarily

These permissions reset after logout or reboot; re-apply as needed.

Arguments

  • mode: Robot operation mode. Options:

    • real: Connect to a physical Doosan robot.

    • virtual: Run in simulator or emulator mode.

  • model: Robot model name (e.g., m1013, a0509)

  • host: IP address of the robot controller (real mode) or emulator (virtual mode)

Examples

Real Mode (Physical Robot)

ros2 launch dsr_bringup2 dsr_bringup2_moveit.launch.py mode:=real model:=m1013 host:=192.168.137.100

Virtual Mode (Simulation)

ros2 launch dsr_bringup2 dsr_bringup2_moveit.launch.py mode:=virtual model:=m1013 host:=127.0.0.1

Launching this command will start:

  • RViz 2 with the robot model and planning scene

  • Move Group (motion planning backend)

  • Joint trajectory controller

  • Robot state publisher and static transforms



MoveIt RViz2 Launch Screenshot

Motion Execution Demo

The animation below demonstrates motion execution using MoveIt 2:

MoveIt Motion Execution

For additional customization or troubleshooting, refer to the launch files in the dsr_bringup2 and dsr_moveit_config_{model} packages.