O'Reilly logo

Robot Operating System Cookbook by Kumar Bipin

Stay ahead with the world's most comprehensive technology and business learning platform.

With Safari, you learn the way you learn best. Get unlimited access to videos, live online training, learning paths, books, tutorials, and more.

Start Free Trial

No credit card required

MoveIt architecture

Let's start with a quick look at the MoveIt architecture. Understanding the architecture of MoveIt! helps to program and interface the robot to MoveIt. Here, we can have a look at the following diagram showing the MoveIt architecture:

MoveIt architecture

We can say that move_group is the heart of MoveIt, as this node acts as an integrator of the various components of the robot and delivers actions/services according to the user's needs.

The move_ group node collects robot information, such as the PointCloud, the joint state of the robot, and the transforms (TFs) of the robot in the form of topics and services.

From the ...

With Safari, you learn the way you learn best. Get unlimited access to videos, live online training, learning paths, books, interactive tutorials, and more.

Start Free Trial

No credit card required