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Version: 7

Using moveit_pro configure

MoveIt Pro is designed to switch between various robot configuration packages, or simply robot configs. A robot config includes:

  • The robot(s) being operated and the environment - their URDFs and/or MJCF robot models.
  • The simulated world or imported CAD file of your workcell.
  • Configuration files describing included sensors, actuators, controllers, and 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 robot configs inside it, like this git repository for the provided example workspace for MoveIt Pro

For details on making a custom robot config, refer to Configuring MoveIt Pro for a Specific Robot.

Running the Configuration Utility​

The moveit_pro utility script includes a tool to modify many configurable parameters in a step by step manner. It will prompt you with several configuration options that should be self-documented.

The first time you run MoveIt Pro it will automatically ask you which robot config to choose from a list.

Thereafter, to change the robot config used when launching MoveIt Pro you can run the configuration utility:

moveit_pro configure

To directly specify an alternate robot config at the command line:

moveit_pro run -c my_config_package