ROS Programming: Building Powerful Robots

The planning scene

The first thing we have to do is define the objects in the environment since MoveIt! needs this information to make the arm interact with an object without colliding with it, and to reference them to do certain actions. Here, we will consider the following scene:

Environment with manipulator and objects in Gazebo

This scene has the arm with the gripper and the RGB-D sensor as the robotic manipulator. There is also a table and a can of Coke; the flat support surface and the cylindrical object, respectively. You can run this scene in Gazebo with the following command:

    $ roslaunch rosbook_arm_gazebo rosbook_arm_grasping_world.launch ...