Mastering ROS for Robotics Programming - Second Edition

Step 5 – Adding the robot poses

In this step, we can add certain fixed poses in the robot configuration. For example, we can assign a home position or a pick/place position in this step. The advantage is that, while programming with MoveIt! APIs, we can directly call these poses, which are also called group states. These have many applications in the pick/place and grasping operation. The robot can switch to the fixed poses without any hassle.