O'Reilly logo

Mastering ROS for Robotics Programming by Lentin Joseph

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

Creating MoveIt! configuration for an industrial robot

The procedure for creating the MoveIt! interface for industrial robots are same as the other ordinary robot manipulators except in some standard conventions. The following procedures give a clear idea about these standard conventions:

  • Launch the MoveIt! setup assistant using the following command:
    $ roslaunch moveit_setup_assistant setup_assistant.launch
    
  • Load the URDF from the robot description folder or convert xacro to URDF and load to the setup assistant
  • Create a Self-Collision matrix with Sampling Density about ~ 80,000. This value can increase the collision checking in the arm
  • Add a Virtual Joint matrix as shown in the following screenshot. Here the virtual and parent frame names are arbitrary. ...

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