Mastering ROS for Robotics Programming - Second Edition

Step 4 – Adding planning groups

A planning group is basically a group of joints/links in a robotic arm which plans together to achieve a goal position of a link or the end effector. We must create two planning groups, one for the arm and one for the gripper.

Click on the Planning Groups tab on the left side and click on the Add Group button. You will see the following screen, which has the settings of the arm group:

Figure 7: Adding the planning group of the arm

Here, we are giving Group Name as arm, and Kinematic Solver as kdl_kinematics_plugin/KDLKinematicsPlugin, which is the default numerical IK solver with MoveIt!. We can keep the other ...