Mastering ROS for Robotics Programming

Working with perception using MoveIt! and Gazebo

Till now, in MoveIt!, we have worked with arm only. In this section, we will see how to interface a 3D vision sensor data to MoveIt!. The sensor can be either simulated using Gazebo or you can directly interface an RGB-D sensor such as Kinect or Xtion Pro using the openni_launch package. Here we will work using Gazebo simulation.

We will add sensors to MoveIt! for vision assisted pick and place. We will create a grasp table and a grasp object in gazebo for the pick and place operation. We will add two custom models called grasp_table and grasp_object. The sample models are located along with the chapter codes and it should copy to the ~/.gazebo/models folder for accessing the models from gazebo. ...