ROS Robotics Projects - Second Edition

Setting up planning groups

Let's set up planning groups by following these steps:

1. In Planning Groups, add our robot arm group by selecting Add Group.
2. Name our group arm.

3. Select Kinematic Solver as kdl_kinematics_plugin/KDLKinematicsPlugin. Set the resolution and timeout as the default values.
4. Select RRTStar as our Planner.
5. Now, add our robot arm joints and click Save.

Your final window should look as follows:

Moveit planning groups

Once the arm group has been set, we can set the poses for the arm.