Jerry
30 lines
1.2 KiB
Markdown
30 lines
1.2 KiB
Markdown
# MoveIt2 Server
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Load this only when the user specifically needs CAD Viewer's optional SRDF IK or path-planning controls. Plain SRDF review and normal Viewer links do not require MoveIt2.
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## Start
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Run from the `cad-viewer` skill directory:
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```bash
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npm --prefix scripts/viewer run moveit2:setup
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npm --prefix scripts/viewer run moveit2:check
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npm --prefix scripts/viewer run moveit2:serve
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```
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The server defaults to `ws://127.0.0.1:8765/ws`. CAD Viewer connects to that URL when `VIEWER_MOVEIT2_WS_URL` or the browser `?moveit2Ws=` query points at it.
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Use the configured ROS 2 / MoveIt2 environment. Do not install ROS 2 or MoveIt2 packages into the repository CAD `.venv`.
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## Viewer Controls
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Open an `.srdf` file, expand the right-side `MoveIt2` sheet, and use:
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- Status: linked SRDF and MoveIt2 server status.
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- Target: planning group, end effector, target frame, and X/Y/Z target coordinates.
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- Solver: IK timeout, attempts, and tolerance.
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- Planning: pipeline, planner ID, plan time, velocity scale, and acceleration scale.
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- Actions: select pose from the model, reset to the current pose, solve pose, or plan to pose.
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Report whether the environment check passed, whether pose solving/planning worked, and any viewer/server error text.
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