To begin running MoveIt! on stretch, run the demo launch file. This doesn't require any simulator or robot to run.
roslaunch stretch_moveit_config demo.launchThis will brining up an RViz instance where you can move the robot around using interactive markers and create plans between poses. You can reference the bottom gif as a guide to plan and execute motion.
Additionally, the demo allows a user to select from the three groups, stretch_arm, stretch_gripper, stretch_head to move. The option to change groups in the in Planning Request section in the Displays tree. A few notes to be kept in mind:
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Pre-defined start and goal states can be specified in Start State and Goal State drop downs in Planning tab of Motion Planning RViz plugin.
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stretch_gripper group does not show markers, and is intended to be controlled via the joints tab that is located in the very right of Motion Planning Rviz plugin.
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When planning with stretch_head group make sure you select Approx IK Solutions in Planning tab of Motion Planning RViz plugin.
# Terminal 1:
roslaunch stretch_gazebo gazebo.launch
# Terminal 2:
roslaunch stretch_core teleop_twist.launch twist_topic:=/stretch_diff_drive_controller/cmd_vel linear:=1.0 angular:=2.0 teleop_type:=keyboard # or use teleop_type:=joystick if you have a controller
# Terminal 3
roslaunch stretch_moveit_config demo_gazebo.launchThis will launch an Rviz instance that visualizes the joints with markers and an empty world in Gazebo with Stretch and load all the controllers. There are pre-defined positions for each joint group for demonstration purposes. There are three joint groups, namely stretch_arm, stretch_gripper and stretch_head that can be controlled individually via Motion Planning Rviz plugin. Start and goal positions for joints can be selected similar to this moveit tutorial.
Next Tutorial: Follow Joint Trajectory Commands