ROS Programming: Building Powerful Robots

Motion planning

Motion planning deals with the problem of moving the arm to a configuration, allowing you to reach a pose with the end effector without crashing the move group with any obstacle, that is, the links themselves or other objects perceived by sensors (usually as point clouds) or violating the joint limits. The MoveIt! user interface allows you to use different libraries for motion planning, such as OMPL (http://ompl.kavrakilab.org), using ROS actions, or services.

A motion plan request is sent to the motion planning module, which takes care of avoiding collisions (including self-collisions) and finds a trajectory for all the joints in the groups that move the arm so that it reaches the goal requested. Such a goal consists of a ...