Jerry
115 lines
3.0 KiB
Markdown
115 lines
3.0 KiB
Markdown
# MoveIt2 Server
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The MoveIt2 server is an optional CAD Viewer backend module for SRDF IK and
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path-planning controls. It is disabled for normal hosted viewer use and is only
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needed when a user explicitly wants interactive solve or plan-to-pose controls.
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## Install
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From the viewer package or generated cad-viewer skill runtime directory:
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```bash
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npm run moveit2:setup
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```
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The setup script creates or updates the `moveit2-server` conda environment from
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`moveit2_server/environment.yml`, installs the Python package in editable mode,
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and runs a server import check.
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Use a ROS 2 / MoveIt2 capable conda installation. Do not install ROS 2 or
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MoveIt2 into the repository CAD `.venv`.
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Useful environment variables:
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```text
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MOVEIT2_SERVER_CONDA_ENV_NAME
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MOVEIT2_SERVER_CONDA_EXE
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MOVEIT2_SERVER_REPO_ROOT
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MOVEIT2_SERVER_HOST
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MOVEIT2_SERVER_PORT
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```
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## Run
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From the viewer package or generated cad-viewer skill runtime directory:
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```bash
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npm run moveit2:check
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npm run moveit2:serve
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```
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The websocket endpoint defaults to:
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```text
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ws://127.0.0.1:8765/ws
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```
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CAD Viewer connects to that URL in local dev when MoveIt2 controls are enabled,
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unless `VIEWER_MOVEIT2_WS_URL` or the browser `?moveit2Ws=` query parameter
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overrides it.
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## Hosted Backend
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The MoveIt2 module is a long-running websocket backend, not a Vercel serverless
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function. Host it in a ROS 2 / MoveIt2 capable VM or container by running the
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same Python package and exposing its websocket URL:
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```bash
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MOVEIT2_SERVER_HOST=0.0.0.0 \
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MOVEIT2_SERVER_PORT=8765 \
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MOVEIT2_SERVER_REPO_ROOT=/srv/cad-viewer \
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npm run moveit2:serve
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```
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Point the viewer at that endpoint with `VIEWER_MOVEIT2_WS_URL` at build time or
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`?moveit2Ws=` at runtime. Production viewer builds keep MoveIt2 disabled unless
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a websocket URL is explicitly configured by the deployment or user.
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## Protocol
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Requests use `protocolVersion: 1`.
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Supported request types:
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- `srdf.solvePose`
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- `srdf.planToPose`
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Use native joint-value fields:
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- `startJointValuesByName`
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- `jointValuesByName`
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- trajectory `positions`
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Legacy `*Deg` fields remain compatibility aliases. Angular values convert
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between degrees and native radians; prismatic joints stay linear.
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Pose targets require `target.frame`, `target.xyz`, and `target.endEffector`.
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Set `target.targetLink` or `moveit2.targetLink` when the desired TCP is not
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obvious.
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Orientation can be provided as exactly one of:
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```json
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"quat_xyzw": [0, 0, 0, 1]
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```
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or:
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```json
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"rpy": [0, 0, 0]
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```
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If no orientation is provided, `moveit2.ik.positionOnly` defaults to true. If
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`positionOnly` is false, an orientation must be supplied.
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## Notes
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- The server has no Python import dependency on the SRDF skill. It includes the
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SRDF metadata parser it needs under `moveit2_server/moveit2_server`.
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- Success depends on the linked URDF, SRDF, collision geometry, solver
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availability, and MoveIt environment.
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- The generated MoveIt config defaults are suitable for viewer smoke tests but
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are not universal production planning settings.
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- Cache invalidation is based on linked URDF/SRDF file size and modification
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time.
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