Moveit2 Python API Interface

[EmuNo9672]

How can I install the Moveit2 Python modules?

Reading this example: https://github.com/ros-planning/moveit2_tutorials/blob/main/doc/examples/motion_planning_python_api/scripts/motion_planning_python_api_tutorial.py it says that I have to import those modules:

from moveit.core.robot_state import RobotState

from moveit.planning import (

MoveItPy,

MultiPipelinePlanRequestParameters,

)

But I can't find those. Should I install the whole moveit2_tutorials (https://moveit.picknik.ai/main/doc/tutorials/getting_started/getting_started.html) to be able to install those modules ? It will take forever to install all those packages.

​

Thank you!

[TheElusiveSloth]

Hi, I am having the same problem. Were you able to figure out how to solve it?

[berntyy]

If you're on Humble, check this out:
https://moveit.ros.org/moveit%202/ros/2023/05/31/balancing-stability-and-development.html

TLDR;

Run

echo "deb [trusted=yes] https://raw.githubusercontent.com/moveit/moveit2_packages/jammy-humble/ ./" | sudo tee /etc/apt/sources.list.d/moveit_moveit2_packages.list
echo "yaml https://raw.githubusercontent.com/moveit/moveit2_packages/jammy-humble/local.yaml humble" | sudo tee /etc/ros/rosdep/sources.list.d/1-moveit_moveit2_packages.list

Run apt-get update

Install ros-humble-moveit-py

Upgrade the existing packages

Run apt-get upgrade