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Effective Robotics Programming with ROS - Third Edition by Aaron Martinez, Enrique Fernández, Luis Sánchez, Anil Mahtani

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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, ...

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