Mastering ROS for Robotics Programming - Second Edition

Attaching a collision object to a robot link

After seeing how to insert and remove objects from the planning scene, we are now going to discuss how to attach and detach objects to the robot's body. This important feature of ROS MoveIt! allow us to perform object manipulation. In fact, after attaching an object to the robot's body, the obstacle avoidance is additionally extended to the grasped object. In this way, the robot will be free to move into its workspace, avoiding obstacles and carrying the object to manipulate. The code we are going to discuss in place is the seven_dof_arm_test/src/attach_detach_objs.cpp source code. After creating a moveit::planning_interface::PlanningSceneInterface, as shown in the previous examples, we must initialize ...