In the previous chapter, we covered ROS navigation stack and interfacing a mobile robotic hardware to the navigation stack. Similarly, in this chapter, we are going to cover the capabilities of MoveIt!, such as collision avoidance, perception using 3D sensors, grasping, picking, and placing. After this, we will see the interfacing of a robotic manipulator hardware to MoveIt!.
The following are the main topics discussed in this chapter:
Motion planning of arm using MoveIt! C++ APIs
Working with collision checking in robot arm using MoveIt!
Working with perception in MoveIt! and Gazebo
Understanding grasping using the
moveit_simple_grasps
ROS packageSimple robot pick and place using MoveIt!
Understanding Dynamixel ROS servo controllers for robot hardware interfacing
Interfacing 7-DOF Dynamixel based robotic arm to ROS MoveIt!
In Chapter 3, Simulating Robots Using ROS and Gazebo and Chapter 4, Using the ROS MoveIt! and Navigation Stack...