Robot Operating System Cookbook

Basic motion planning

To start, we are simply going to launch the MoveIt Rviz environment and begin doing some tests regarding motion planning.

We will execute the following command in order to start the MoveIt RViz demo environment:

$roslaunch myrobot_moveit_config demo.launch  

If everything goes fine, we will see something like this:

MoveIt motion planning window

Now, we will move to the Planning tab, as shown in the following screenshot:

Motion planning configuration

Before we start planning anything, it is always a good practice to update ...