Mastering ROS for Robotics Programming - Second Edition

Motion planning using MoveIt!

Assume that we know the starting pose of the robot, a desired goal pose of the robot, the geometrical description of the robot, and geometrical description of the world, then motion planning is the technique to find an optimum path that moves the robot gradually from the start pose to the goal pose, while never touching any obstacles in the world and without colliding with the robot links.

In this context, the robot geometry is described via the URDF file. We can also create a description file for the robot environment and use laser or vision sensors of the robot to map its operative space, in order to avoid static and dynamic obstacles during the execution of planned paths.

In the case of the robotic arm, the ...