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Robot Operating System Cookbook by Kumar Bipin

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So now, we're getting real-time data from the robot's environment. Do you think that this will affect the motion plans that are calculated in any way? Let's do the following experiment in order to understand that!

First of all, we will launch the MoveIt RViz environment with perception. Next, in the motion screen, we will select the Start pose that we have created in the previous section, and plan a trajectory to go there, as shown in the following screenshot:

Planning a trajectory with Obstacle

Subsequently, we will remove the object from the simulation by right-clicking on it, selecting the Delete option, and then planning ...

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