Till now, we have learned about MoveIt! interfacing using Gazebo simulation. In this section, we will see how to replace Gazebo and put a real robot interface to MoveIt!. Let's discuss the DYNAMIXEL servos and the ROS controllers.
The DYNAMIXEL servos are smart, high-performance networked actuators for high-end robotics applications. These servos are manufactured by a Korean company called ROBOTIS (http://en.robotis.com/). These servos are very popular among robotics enthusiasts because they can provide excellent position and torque control, and also provide a variety of feedback, such as position, speed, temperature, voltage, and so on. One of their useful features is that they can be networked in a daisy chain manner. This feature is very useful in multi-joint systems, such as a robotic arm, humanoid robots, robotic snakes, and others. The servos can be directly connected to PCs using a USB...