Controlling the robot arm using Moveit

Once Moveit has been configured, we can test our robot arm manipulation using the GUI interface (RViz plugin):

  1. Launch the mobile manipulator in Gazebo:
$ initros1$ source devel/setup.bash$ roslaunch robot_description mobile_manipulator_gazebo_xacro.launch
  1. In a new Terminal, open the move_group.launch file that was auto-generated by the Moveit setup assistant wizard:
$ initros1$ source devel/setup.bash$ roslaunch robot_description_moveit_config move_group.launch

Your Terminal's output would be similar to what's shown in the following screenshot:

move_group.launch
  1. Now, let's open RViz to control the ...

Get ROS Robotics Projects now with O’Reilly online learning.

O’Reilly members experience live online training, plus books, videos, and digital content from 200+ publishers.