play_motion2
- Software
- Robot arms and industry
- Tool
A ROS 2 tool for playing pre-recorded robot motions, with simultaneous trajectories across several joint groups, plus its message definitions.
Made by PAL Robotics S.L., Spain (checked on github.com/pal-robotics (opens in a new tab)).
Source on GitHub: github.com/pal-robotics/play_motion2 (opens in a new tab). Facts read at commit fbd9bba (opens in a new tab).
Licenses
- Code
- Apache-2.0 (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit fbd9bba (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Plays motions defined in a YAML file, where each motion lists joints, target positions and times from start.
- Runs several joint groups' trajectories at the same time.
- Plans the approach to a motion's first position with MoveIt 2, then combines it with the motion for a safe start.
- Can skip planning per goal, with a fixed approach velocity and minimum duration instead.
- Provides an action to run motions, and services to list, check, inspect, add and remove motions.
Written by Robotheca from the project's README (opens in a new tab) at commit fbd9bba.
Getting started
- Difficulty
- Intermediate
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 16 Oct 2026 on humble-devel
- Latest release
- None published on GitHub
Checked on GitHub on 16 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.