ROS Programming: Building Powerful Robots

Summary

In this chapter, we have covered most of the aspects involved in integrating a robotic arm with MoveIt! and Gazebo, which gives us a realistic view of how a robotic arm could be used in a real-life environment. MoveIt! provides us with very simple and concise tools for motion planning with robotic arms using an Inverse Kinematics (IK) solver as well as ample documentation in order to facilitate this process, but given the complexity of the architecture, it can only be done properly once all of the different interactions between MoveIt!, the sensors, and the actuators in our robot have been properly understood.

We have glanced through the different high-level elements in the MoveIt! API, which, to cover in detail, would require an ...