Robot Operating System Cookbook

Getting ready

First of all, we are going to see how to perform grasping in MoveIt. This means we are going to perform it without controlling the real robot.

For this, we are going to be using the moveit_simple_grasps package. This package is very useful for generating grasp poses for simple objects, such as blocks or cylinders, and it's quite simple, which helps in the process of learning. This package takes the position of the object to be grasped as input, and generates the necessary grasping sequences in order to pick the object up.

This package already supports robots such as Baxter, REEM, and Clam arm, among others, but it is quite easy to interface any other custom manipulator robot to the package, without having to modify too many ...