In this chapter, we explored some advanced features of MoveIt! and how we can interface it into a real hardware. The chapter started with a discussion on collision checking using MoveIt!. We saw how to add a collision object using MoveIt! APIs and also saw the direct importing of mesh to the planning scene. We discussed a ROS node to check collision using MoveIt! APIs. After learning about collisions, we moved to perception using MoveIt!. We connected the simulated point cloud data to MoveIt! and created an OctoMap in MoveIt!. The next topic we discussed was grasping, using the moveit_simple_grasp package. We saw the grasp generator using this package and we made a simple pick and place task using the grasp server and the pick and place ...

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