MoveIt for stretch 3

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I am using stretch 3. Do you have the default MoveIt configuration. I use the stretch 2 version. It cannot connect to the topics and return 0 controllers. Do I need to launch FollowJointTrajectory action service? On the robot, I launched “ ros2 launch stretch_core stretch_driver.launch.py” and “ros2 launch stretch_core d435_high_resolution.launch.py”

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Hi @Yongbo, we deprecated the MoveIt2 support in ROS2 Galactic because the API had changed between Galactic and Humble. There’s been some effort to port it forward to Humble, but that isn’t complete. Recently, the work in the following post with PyOptas has seemed to me a more promising way to set up trajectory optimization: Whole Body Trajectory Optimization for stretch

If you’re interested in pushing forward with MoveIt2, I can put together some notes on the pain points that need to be solved.

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Thanks. I have written a service to solve this problem. Now it is fine for manipulation for ros1.

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