In this project, I will take a MoveIt package that allows a user to send end-effector velocity streaming commands to a robotic manipulator and port it to ROS2. While making the developments to use the package in ROS2, I will take the opportunity to make improvements in these areas: lowering the technical barrier of entry for the user, improving the Inverse Kinematics especially near kinematic singularities, and allowing the user to customize the package by making it more modular. The development work will be accompanied by extensive documentation, tutorials, and examples. Additionally, the package will be thoroughly tested and will support testing for future updates.



Adam Pettinger


  • Andrew Zelenak
  • Tyler Weaver