March 2018
Intermediate to advanced
1396 pages
42h 14m
English
book
ROS Programming: Building Powerful Robots
by Anil Mahtani, Luis Sanchez, Enrique Fernandez, Aaron Martinez, Lentin Joseph
Content preview from ROS Programming: Building Powerful Robots
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Testing the MoveIt! configuration
After editing the configuration and launch files in the MoveIt! configuration, we can start running the robot simulation and can check whether the MoveIt! configuration is working well or not. Ensure the ros-industrial-simulator package is installed properly. Here are the steps to test an industrial robot.
- Start the robot simulator
- Start the MoveIt! planning execution launch file using the following command line:
$ roslaunch <robot>_moveit_config moveit_planning_execution.launch
- Open RViz and load RViz Motion planning plugin using the Plan and Execute button. We can plan and execute the trajectory on the simulated robot.