Until now, we've only moved the robot in the Moveit! application. This is very useful because we can do many experiments without worrying about any damage. Anyway, the final goal will always be to move the real robot, right?
The MoveIt! package we've created is able to provide the necessary ROS services and actions in order to plan and execute trajectories, but it isn't able to pass these trajectories to the real robot. All the kinematics we've been performing are executed in an internal simulator that MoveIt! provides. In order to communicate with the real robot, it will be necessary to do a couple of modifications to the MoveIt! package we created at the beginning of this section.
Obviously, we may ...
