README

MoveIt (C++)

MoveIt action server for the MIRTE arm and gripper. Exposes the /move_to_position action and handles named targets, Cartesian pose goals, and gripper commands via MoveGroupInterface. Also includes a standalone example executable for quick motion testing.

Run

Action server (main executable)

ros2 run mirte_lc_moveit_cpp moveit_action_server

On startup the node moves the arm to the vigilant named pose before accepting goals.

As a composable node

The server is registered as a ROS 2 component and can be loaded into a component container:

ros2 component load /ComponentManager mirte_lc_moveit_cpp mirte_lc_moveit_cpp::MirteLCMoveItActionServer

MoveIt example

ros2 run mirte_lc_moveit_cpp moveit_example

Plans and executes a single hard-coded pose (0.085, 0.0, 0.47) for the mirte_arm group, then logs the resulting wrist pose. Useful for verifying the MoveIt stack is functional.

Node information

mirte_lc_moveit_action_server

Action servers

Action

Type

Description

/move_to_position

mirte_lc_msgs/MoveToPosition

Execute arm and gripper motion goals

MoveIt planning groups

Group

Used for

mirte_arm

Arm named targets, Cartesian pose goals, wrist joint control

mirte_gripper

Gripper named targets, gripper joint control

Goal field execution logic

Each field of MoveToPosition.Goal is evaluated in priority order. The first non-default field wins; subsequent fields are ignored for that goal.

Priority

Field

Condition

Behaviour

1

mirte_arm_named_target

non-empty string

Sets named target on mirte_arm and calls move()

2

mirte_arm_target_pose

position.x != 0.0

Runs full IK → planning → TOTG → execution pipeline (see below)

3

mirte_wrist_joint_target

!= 0.0

Copies current joint values, overrides joint index 3, calls move()

4

mirte_gripper_named_target

!= "none"

Sets named target on mirte_gripper and calls move()

5

mirte_gripper_joint_target

!= 0.0

Copies current gripper joint values, overrides index 0, calls move()

Note: mirte_wrist_joint_target and mirte_gripper_named_target / mirte_gripper_joint_target are not mutually exclusive — if priorities 3 and 4/5 are both set, the wrist move executes first but the gripper result will not be returned (the goal has already been succeeded by the gripper branch). Set only one field per goal to avoid this.

Cartesian pose execution pipeline

When mirte_arm_target_pose is used the server runs the following steps. The goal is aborted if any step fails.

  1. Fetch current state — getCurrentState(), enforce bounds, set as start state.

  2. IK — exact — setFromIK with return_approximate_solution = false, tip link wrist.

  3. IK — approximate fallback — retried with return_approximate_solution = true if exact IK fails.

  4. Bounds check — satisfiesBounds() logged (does not abort on violation).

  5. Planning — setPositionTarget on wrist, then plan().

  6. Tolerance relaxation fallback — if planning fails, position tolerance is widened to 0.001 m and joint tolerance to 0.01 rad, then replanned.

  7. Time parameterisation — TimeOptimalTrajectoryGeneration applied to the plan.

  8. Execution — execute(plan).

  9. Wrist-level compensation — after execution, joint 3 is set to -π − joint[1] − joint[2] to keep the wrist level.

Tolerances

Tolerance

Initial value

Fallback value

Goal position

0.001 m

0.001 m (unchanged)

Goal joint

0.001 rad

0.01 rad

Logging

The node logs the following at INFO level for every goal:

  • All four goal fields on receipt (handle_goal)

  • Pose reference frame and end-effector link

  • Planning frame and all three tolerances

  • Current and target joint values (labelled [CURRENT] / [TARGET])

  • IK outcome (exact and approximate)

  • Bounds validity and collision state

  • Trajectory point count and per-point timestamps

  • Time parameterisation result

  • Final wrist pose after execution

Cancel requests are logged at WARN.

Dependencies

  • rclcpp, rclcpp_action, rclcpp_components

  • mirte_lc_msgs

  • moveit_ros_planning_interface (MoveGroupInterface, RobotModelLoader, RobotState)

  • moveit_ros_planning (PlanningScene)

  • moveit_core (TimeOptimalTrajectoryGeneration, RobotTrajectory)

  • geometry_msgs