Introducing MoveIt!
One of the challenging aspects of robotics is defining a path for the motion of a robot's arms to grasp an object, especially when obstacles may obstruct the most obvious path of motion. Fortunately, a ROS package called MoveIt! allows us to plan and execute a complicated trajectory.
A video created by Rethink Robotics shows how to use MoveIt! to plan the motion of Baxter's arms and then have MoveIt! actually cause a real or simulated Baxter to execute that motion. To see the video, go to: https://www.youtube.com/watch?feature=player_detailpage&v=1Zdkwym42P4.
A tutorial is available on the Rethink wiki site at http://sdk.rethinkrobotics.com/wiki/MoveIt_Tutorial.
First, start the Baxter simulator in Gazebo:
$ cd baxter_ws $ ./baxter.sh ...
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