ROS Programming: Building Powerful Robots

Integration into Gazebo or a real robotic arm

The MoveIt! integration into Gazebo is a relatively straightforward process, which can be divided into two different steps: first of all, we need to provide all of the sensors required by MoveIt!, such as the RGB-D sensor, so that motion planning can take the environment into account, and secondly, we also need to provide a controller as well as the current joint states periodically.

When a sensor is created in Gazebo, it interacts with the system as a normal sensor would, by simply producing the required data. This data is then used by MoveIt! in exactly the same way that data produced by a real sensor would in order to generate collision artifacts in the planning scene. The process of making ...