Mastering ROS for Robotics Programming - Second Edition

Pick and place action in Gazebo and real robot

The grasping sequence executed in the MoveIt! demo uses fake controllers. We can send the trajectory to the actual robot or Gazebo. In Gazebo, we can launch the grasping world to perform this action.

In the real hardware, the only difference is that we need to create joint trajectory controllers for the arm. One of the commonly used hardware controllers is the DYNAMIXEL controller. We will learn more about the DYNAMIXEL controllers in the next section.