In the previous chapter, we covered ROS navigation and interfacing with mobile robotic hardware. Similarly, in this chapter, we are going to cover the advanced capabilities of ROS-MoveIt!, such as collision avoidance, perception with 3D sensors, grasping, picking, and placing. After this, we will see how to interface robotic manipulator hardware with MoveIt!.
The following are the main topics discussed in this chapter:
- Motion planning collision checking of a robotic arm, using MoveIt! C++ APIs
- Working with perception in MoveIt! and Gazebo
- Performing object manipulation with MoveIt!
- Understanding DYNAMIXEL ROS servo controllers for robot hardware interfacing
- Interfacing 7-DOF DYNAMIXEL-based robotic arm to ROS MoveIt!
In Chapter 4, Simulating Robots Using ROS and Gazebo, and Chapter 6, Using the ROS MoveIt! and Navigation Stack, we discussed MoveIt! and how to simulate an arm in Gazebo, and motion plan using MoveIt!. In this chapter...