O'Reilly logo

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

Stay ahead with the world's most comprehensive technology and business learning platform.

With Safari, you learn the way you learn best. Get unlimited access to videos, live online training, learning paths, books, tutorials, and more.

Start Free Trial

No credit card required

Motion planning with collisions

It might be interesting for the reader to know that MoveIt! provides motion planning with collisions out of the box, so in this section we will cover how you can add elements to the planning scene that could potentially collide with our robotic arm. First, we will start by explaining how to add basic objects to the planning scene, which is quite interesting as it allows us to perform planning even if a real object doesn't exist in our scene. For completion, we will also explain how to remove those objects from the scene. Finally, we will explain how to add an RGBD sensor feed, which will produce point clouds based on real-life (or simulated) objects, thus making our motion planning much more interesting and realistic. ...

With Safari, you learn the way you learn best. Get unlimited access to videos, live online training, learning paths, books, interactive tutorials, and more.

Start Free Trial

No credit card required