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How to use Gazebo with ROS Groovy and MoveIt

asked 2013-07-26 08:31:23 -0600

Davinci gravatar image

updated 2013-07-27 11:21:08 -0600

I am currently using Fuerte with Gazebo 1.0 but I want to try MoveIt. What is the best way to do this? Use the groovy gazebo or use the standalone 1.9? Can ROS Groovy interact with 1.9? Is it also possible to use roslaunch and spawn in 1.5?

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answered 2013-07-26 10:30:06 -0600

nkoenig gravatar image

The most recent work for tying together Gazebo, ROS, and MoveIt! has been done with Gazebo 1.9, and ROS Hydro.

Here are a set of tutorials that describe the Gazebo+ROS integration: http://gazebosim.org/wiki/Tutorials#ROS_Integration

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But as Hydro is still beta is moveit more stable on Groovy? Or is Hydro + Gazebo 1.9 currently the best combination? I put the crash part in a separate question

Davinci gravatar imageDavinci ( 2013-07-27 11:08:12 -0600 )edit

I'm not an active user of MoveIt!, so I don't have a firm answer about which one is more stable. You could direct this question to the MoveIt! mailing list.

nkoenig gravatar imagenkoenig ( 2013-07-30 10:29:11 -0600 )edit

Having given it a go myself, it is possible. I installed ROS Hydro, Gazebo 1.9 and gazebo_pkgs, using 'quantal' source, though I think raring might work as well. I believe the most recent 1.9 build is essentially separate from ROS and so no longer supports groovy. I've been able to use MoveIt! to view and plan for a Fanuc robotic arm (not my work), but currently struggling a bit with connecting gazebo with Moveit!, though I believe this is due to the tutorials not being updated on MoveIt website

Cdrwolfe gravatar imageCdrwolfe ( 2013-08-02 10:45:06 -0600 )edit

Hi Cdrwolfe, I am trying to do exactly what you are doing. Could you share with me the sources you refer to for using moveit! to view and plan for a fanuc robotic arm? another thing, in hydro, it seems that there is some problem with rviz, when clicking add, it will just crash. Do you have any solution to this? Thanks a lot

ljk gravatar imageljk ( 2013-09-09 23:19:13 -0600 )edit

Hi Cdrwolfe, I am trying to do exactly what you are doing. Could you share with me the sources you refer to for using moveit! to view and plan for a fanuc robotic arm? another thing, in hydro, it seems that there is some problem with rviz, when clicking add, it will just crash. Do you have any solution to this?

ljk gravatar imageljk ( 2013-09-09 23:19:14 -0600 )edit

Hi Ijk, you can find the Fanuc moveit package from here: https://github.com/ros-industrial, look for fanuc_experimental for moveit package and fanuc for standard package

Cdrwolfe gravatar imageCdrwolfe ( 2013-09-22 07:04:33 -0600 )edit

Hi, have you try to upgrade your system?

jumping gravatar imagejumping ( 2016-08-23 20:16:26 -0600 )edit
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Asked: 2013-07-26 08:31:23 -0600

Seen: 1,085 times

Last updated: Jul 27 '13