Book Image

Learning ROS for Robotics Programming Second Edition

Book Image

Learning ROS for Robotics Programming Second Edition

Overview of this book

Table of Contents (27 chapters)
Learning ROS for Robotics Programming Second Edition
Credits
About the Author
Acknowledgments
About the Author
Acknowledgments
About the Author
Acknowledgments
About the Author
Acknowledgments
About the Reviewer
About the Reviewer
Acknowledgments
About the Reviewers
www.PacktPub.com
Preface
Index

Integrating an arm in MoveIt!


In this section, we will go through the different steps required to get a robotic arm working with MoveIt! There are several elements that need to be provided beforehand, such as the arm description file (URDF), as well as the components required to make it work in Gazebo, although some of these will be covered in this chapter.

What's in the box?

In order to make it easier to understand how we can integrate a robotic arm with MoveIt!, we have provided a set of packages containing all of the necessary configurations, robot descriptions, launch scripts, and modules to integrate MoveIt! with ROS, Gazebo, and RViz. We will not cover the details of how to integrate a robot with Gazebo as that has been covered in other chapters, but an explanation on how to integrate MoveIt! with Gazebo will be provided. The following packages are provided in the repository for this chapter, in the chapter10_tutorials directory:

  • chapter10_tutorials: This repository acts as a container...