Create Your Own MoveIt Config

This guide shows a procedure to create a minimal MoveIt configuration package to move your FANUC robot with fanuc_driver.

Note

This guide uses the following names. Replace them with ones for your robot system.
- Robot model: R-1000iA/100F
  - robot_model: r1000ia_100f (URDF’s name: r1000ia_100f.urdf.xacro)
  - robot_series: r1000ia (central part of the description package’s name: fanuc_r1000ia_description)
- MoveIt config package name: fanuc_r1000ia_moveit_config

MoveIt Setup Assistant

Follow the official MoveIt Setup Assistant Tutorial.

Select a xacro file in the robot directory (ex. fanuc_r1000ia_description/robot/r1000ia_100f.urdf.xacro) as the URDF file to load as the Start Screen.
Create a kinematic chain from base_link to flange as the planning group.
Just push the “Auto Add ~” buttons on ROS 2 Controllers page and MoveIt Controllers page.
Select the position command, position state, and velocity state and push the Add interfaces button on the ros2_control URDF Modifications page.

Modifications

The configuration package requires some modifications to move fanuc robots with fanuc_hardware_interface.

Copy fanuc_moveit_config/config/moveit_controllers.yaml into your_moveit_config_package/config directory.
Copy fanuc_moveit_config/launch/fanuc_moveit_template.launch.py into your_moveit_config_package/launch directory.

Launching

# without physical robot
ros2 launch fanuc_r1000ia_moveit_config fanuc_moveit_template.launch.py robot_model:=r1000ia_100f robot_series:=r1000ia moveit_config:=fanuc_r1000ia_moveit_config use_mock:=true
# with physical robot
ros2 launch fanuc_r1000ia_moveit_config fanuc_moveit_template.launch.py robot_model:=r1000ia_100f robot_series:=r1000ia moveit_config:=fanuc_r1000ia_moveit_config use_mock:=false robot_ip:={your robot's ip address}