MoveIt 2 for a 6-DOF Arm: Planning and Safety Limits

Goal

Configure MoveIt 2 for joint and pose planning with basic safety limits.

Procedure

1. Define joints and limits in URDF.
2. Generate or configure the MoveIt setup.
3. Test plans in RViz before execution.
4. Use slow speed scaling and enforce joint limits.

Verification

Record the command output, confirm the expected ROS 2 topic or behaviour, and resolve power, TF and device-permission errors before continuing.