u/designer120

Hello,

We are currently developing a new software stack for our pick-and-place robot because the existing system has become legacy, and we are considering using ROS 2 for the new platform.

I have a question for people who have built robots with ROS 2 in an industrial/company environment:

Did you develop your own motion planner, or did you rely on existing solutions such as MoveIt / MoveItCpp with planners like Pilz?

We have been experimenting with MoveIt and MoveItCpp, but trajectory generation seems relatively slow for our use case. It is possible that our implementation or configuration is not optimal, but we already tried to follow best practices as much as possible.

I would be interested to hear:

• What architecture/planning stack you ended up using
• Whether MoveIt was fast enough for production pick-and-place applications
• If you switched to a custom planner, what were the main reasons

Thanks.