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

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Simple motion planning

The RViz plugin provides a very interesting mechanism to interact with MoveIt! but it could be considered quite limited or even cumbersome due to the lack of automation. In order to fully make use of the capabilities included in MoveIt!, several APIs have been developed, which allow us to perform a range of operations over it, such as motion planning, accessing the model of our robot, and modifying the planning scene.

In the following section, we will cover a few examples on how to perform different sorts of simple motion planning. We will start by planning a single goal, continue with planning a random target, proceed with planning a predefined group state, and finally, explain how to improve the interaction of our snippets ...

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