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Mastering ROS for Robotics Programming - Second Edition by Jonathan Cacace, Lentin Joseph

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Working with a robot pick-and-place task using MoveIt!

We can do pick and place in various ways. One is by using pre-defined sequences of joint values; in this case, we put the object in a known position, and move the robot into towards that by providing direct joint values or forward kinematics. Another method of pick and place is by using inverse kinematics without any visual feedback. In this case, we command the robot to move in a cartesian position with respect to the robot base frame, and by solving IK. In this way, the robot can reach that position and pick up that object. One more method is to use external sensors, such as the vision ones, to calculate the pick-and-place positions; in this case, a vision sensor is used to identify ...

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