# Motion Planning Control

> Motion planning and control. MoveIt2, Nav2, trajectory optimization, PID/MPC, ros2_control.

- Skill: `aselimc/motion-planning-control` (Agent Skill)
- Install (CLI): `npx skillmds@latest add aselimc/motion-planning-control`
- Raw SKILL.md: https://api.skillmd.com/api/skills/aselimc/motion-planning-control/raw
- Safety review: pending
- Works with: Claude Code, Claude.ai, OpenAI Codex
- Category: Coding & Dev Tools
- Author: aselimc (https://skillmd.com/u/aselimc)
- Updated: 2026-09-10
- Page: https://skillmd.com/skills/aselimc/motion-planning-control

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# Motion Planning & Control

## MoveIt2 (Manipulation)
- Configure SRDF, kinematics (KDL/TRAC-IK), collision objects
- Planners: OMPL (RRT*, PRM*), PILZ (industrial), STOMP
- Use MoveGroup interface for planning + execution

## Nav2 (Mobile Navigation)
- Planners: NavFn, Theta*, Smac (lattice/hybrid A*)
- Controllers: DWB, MPPI, regulated pure pursuit
- Costmaps: static + obstacle + inflation layers

## Control Loops
| Controller | Use Case | Tuning |
|-----------|----------|--------|
| PID | Joint position/velocity | Ziegler-Nichols or manual |
| MPC | Trajectory tracking with constraints | Horizon, Q, R matrices |
| Impedance | Compliant manipulation | Stiffness, damping |

## ros2_control
```yaml
hardware:
  - hardware_interface/JointStateInterface
  - hardware_interface/EffortJointInterface
controllers:
  joint_trajectory_controller:
    type: joint_trajectory_controller/JointTrajectoryController
```

## Key Libraries
MoveIt2, Nav2, ros2_control, Drake, pinocchio