How to Use a Dragon’s Algorithm: Integrating Drake with MoveIt 2
In this talk, we discuss incorporating optimization-based motion planning capabilities from Drake into MoveIt 2. MoveIt 2 is a motion planning framework that enables setting up a complete ROS 2 pipeline from perception to planning to trajectory execution. Drake is a toolbox for model-based design offering state-of-the-art optimization capabilities for motion planning, which is a limitation in the motion planners currently available in MoveIt. Using MoveIt’s plugin-based architecture, we demonstrate a motion planning pipeline including inverse kinematics and trajectory optimization algorithms from Drake. Guided by our results, we present a roadmap to continue incorporating Drake into the ROS 2 ecosystem.
