MoveIt Pro Example Workspace

This is fork of the MoveIt Pro Empty Workspace. This workspace contains reference materials for using MoveIt Pro, including:

• Example base UR5e configuration
• A physics based simulation environment with a robot on a linear rail
• Mobile manipulation configuration
• Example behaviors

Since the picknik_accessories package uses git LFS, it cannot be added as a subtree. Please ensure you have the submodule up to date using:

git submodule update --recursive --init

Working with Git Subtrees

This repository was created through the combination of multiple repositories using git subtree. If you have no interest in manually pulling or pushing upstream changes, you can ignore the following section and treat this repository as a single repository.

Repository Structure

The structure of this repository is as follows:

.
├── README.md
└── src
    ├── example_behaviors
    ├── lab_sim
    ├── moveit_pro_ur_configs
    │   ├── picknik_ur_base_config
    │   ├── picknik_ur_mock_hw_config
    │   ├── picknik_ur_multi_arm_config
    │   ├── picknik_ur_sim_config
    │   └── picknik_ur_site_config
    ├── moveit_pro_kinova_configs
    │   ├── kinova_gen3_base_config
    │   ├── kinova_gen3_mujoco_config
    │   └── moveit_studio_kinova_pstop_manager
    ├── moveit_pro_mobile_manipulation
    │   ├── mobile_manipulation_config
    │   └── picknik_ur_mobile_config
    ├── fanuc_sim
    ├── picknik_accessories (submodule)
    └── external_dependencies
        ├── ridgeback
        ├── ros2_robotiq_gripper
        └── serial

This repository contains a copy of the git repositories that were added as subtrees. File changes and commits are treated as if they happen only in this repository. If you update the contents of a subtree, you can merge the latest main branch of lab_sim using the following command:

git subtree pull --prefix src/lab_sim https://github.com/PickNikRobotics/lab_sim main --squash

To pull the upstream changes to all subtrees and submodules, a convenience script is provided. From the top level, you can execute:

./sync_subtrees.sh