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I will program robotic arm manipulation and moveit in ros2
Aman Patel
About this gig
Professional MoveIt2 Integration & Trajectory Planning for Robotic Arms
Are you developing a robotic manipulator, a multi-axis arm, or an industrial automation cell? I specialize in configuring MoveIt and MoveIt2 for advanced robotic arms, providing smooth collision-aware path planning, forward/inverse kinematics, and manipulation tasks.
What I Offer:
1.MoveIt Configuration:- Generating MoveIt configuration packages for any robotic arm (UR5/UR10, Franka, Custom manipulators) using the Setup Assistant.
2.Kinematics Solvers:- Integrating KDL, IKFast, or BioIK solvers to calculate joint angles with high speed and precision.
3.Pick & Place Pipelines:-writing Python/C++ nodes utilizing the MoveGroup API to perform grasp generation, pick-and-place, and trajectory tracking.
4.Collision Avoidance:- Configuring static and dynamic scene obstacles to prevent the arm from hitting itself or its workspace.
Deliverables:
1.Complete ROS2 MoveIt package, controllers configuration, launch files, and test scripts.
2.Please contact me before ordering to discuss your robot's DoF, gripper type, and target controller framework!
Get to know Aman Patel
Aman Patel
System Integrator
- FromIndia
- Member sinceApr 2023
- Avg. response time1 hour
Languages
Hindi, Gujarati, English, Marathi
Robotics Engineer specializing in ROS2, high-fidelity simulation, & RL control. I help startups & labs build digital twins & deploy autonomous systems.
Key Expertise:
- Navigation: SLAM Toolbox & Nav2 (AMR navigation).
- Manipulation: MoveIt2 path planning, kinematic solvers (UR5, KUKA).
- AI & Simulation: NVIDIA Isaac Sim, Isaac Lab, Gazebo Sim, PyTorch PPO.
- Integration: Dockerized containers for zero-setup execution.
I deliver production-grade C++/Python code ready for physical hardware. Let's build reliable systems, first time.
My Portfolio
FAQ
Q: What kinematic solver do you recommend for custom robotic arms?
A:- If your arm is a standard 6-DoF industrial arm, I recommend configuring IKFast, which offers closed-form analytical solutions that execute in microseconds. For arms with custom geometry or more than 6-DoF, I configure BioIK, which uses optimization-based heuristics to solve for multiple
Q: How does MoveIt handle collision avoidance?
A: MoveIt maintains a "Planning Scene" representing the environment. I configure the MoveGroup node to listen to sensor inputs or custom ROS messages to dynamically insert objects (like tables, walls, or pick-up targets) into this scene. The path planner then guarantees that the arm will plan coll
Q: Can you help integrate computer vision (like YOLO or OpenCV) for pick-and-place?
A:-Yes. I can integrate camera-to-robot calibration (hand-eye calibration) nodes and translate coordinate frames (TFs) from object detection models directly into target poses for the MoveGroup planning API. This is available as part of a custom offer or an extension of the Premium package.
Q: What ROS distributions are supported?
I support both ROS1 (Noetic) and ROS2 (Humble, Jazzy). For robotic arm manipulation, I strongly recommend ROS2 Humble with MoveIt2, as it provides native support for real-time control loop interfaces and improved Cartesian planning tools.
