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Version: 6

Configuring MoveIt Pro

MoveIt Pro is designed to switch between various configuration packages. A configuration package is a description of the system, including

  • The robot(s) being operated and the environment.
  • Configuration files describing sensors, actuators, controllers, and MoveIt settings for motion planning.
  • The available set of Objectives, Behaviors, and Waypoints for that specific configuration.

Your user workspace folder may have one or more configuration packages inside it.

For details on making a configuration package, refer to Configuring MoveIt Pro for a Specific Robot.

Running the Configuration Script​

The moveit_pro utility script includes a tool to modify many configurable parameters in a step by step manner. To start the configuration utility, run:

moveit_pro configure

You will be prompted with the following options:

  • Please enter User workspace path Specify the location of your configuration packages
  • Please enter MoveIt Pro configuration package Choose a configuration package to use
  • Please enter MoveIt Pro Docker tag/version Select your MoveIt Pro version
  • Do you want to provide your own DDS xml configuration file? If you want to override the MoveIt Pro Docker container's default DDS configuration you can choose to specify your own configuration file.
  • Please enter MoveIt Pro license key Licenses are issued at the time of purchase
warning

MoveIt Pro uses CycloneDDS by default. Unless you have specific DDS requirements, we suggest using our default configuration. ROS2 communication between the MoveIt Pro Docker container and the system host is best achieved using our recommended DDS configuration found here.

Changing Configuration Packages​

MoveIt Pro will start by default with the lab_sim configuration package, which describes a simulated UR5e robot on a linear rail.

To change the configuration used when launching MoveIt Pro you can run the configuration utility above. Alternatively, specify an alternate configuration package at runtime:

moveit_pro run -c my_config_package