Motion planning with point clouds is much simpler than it would appear to be. The main thing to take into account is that we need to provide a point cloud feed as well as tell MoveIt! to take this into account when performing planning. The Gazebo simulation we have set up for this chapter already contains an RGBD sensor, which publishes a point cloud for us. To start with this example, let's launch the following commands:
$ roslaunch rosbook_arm_gazebo rosbook_arm_grasping_world.launch
$ roslaunch rosbook_arm_moveit_config moveit_rviz.launch config:=true
The user might have noticed that the Gazebo simulation now appears to include several objects in the world. Those objects are scanned by an RGBD sensor, ...
