Initial commit

Signed-off-by: Andrej Orsula <[email protected]>

.gitignore

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+# Colcon
+**/build
+**/install
+**/log
+
+# Python
+**/__pycache__

README.md

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+# pymoveit2
+
+Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services.
+
+## Instructions
+
+### Requirements
+
+- **OS:** Ubuntu 20.04 (Focal)
+  - Other distributions might work (not tested).
+
+### Dependencies
+
+These are the primary dependencies required to use this project.
+
+- ROS 2 [Rolling](https://docs.ros.org/en/rolling/Installation.html)
+  - [Foxy](https://docs.ros.org/en/galactic/Installation.html) and [Galactic](https://docs.ros.org/en/galactic/Installation.html) might work too (not tested).
+- [MoveIt 2](https://moveit.ros.org/install-moveit2/binary)
+  - Install/build a version based on the selected ROS 2 release
+- [Python 3](https://www.python.org/downloads) (tested with `3.8`)
+
+### Building
+
+Clone this repository, install dependencies with [rosdep](https://github.com/ros-infrastructure/rosdep), and build with [colcon](https://colcon.readthedocs.io).
+
+```bash
+# Clone this repository into your favourite ROS 2 workspace
+git clone https://github.com/AndrejOrsula/pymoveit2.git
+# Install dependencies
+rosdep install -r --from-paths . --ignore-src --rosdistro ${ROS_DISTRO}
+# Build
+colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
+```
+
+### Sourcing
+
+Before utilising this package, remember to source the ROS 2 workspace overlay.
+
+```bash
+source ${PYMOVEIT2_WS_DIR}/install/local_setup.bash
+```
+
+This enables importing of `pymoveit2` module from external workspaces.