December 2019
Intermediate to advanced
456 pages
11h 33m
English
Content preview from ROS Robotics Projects - Second Edition
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Introduction to Moveit
Moveit is a sophisticated piece of software written on top of ROS for achieving inverse kinematics, motion or path planning, 3D perception of the environment, collision checking, and so on. It is the primary source of functionality for manipulation in ROS. Moveit understands a robot arm configuration (geometry and link information) through urdf and ROS message definitions and utilizes the ROS visualizing (RViz) tool to perform manipulation.
Moveit is used in more than 100 robot arms and you can find more information about those robots here: https://moveit.ros.org/robots/. Moveit has lots of advanced features and is used by many industrial robots as well. Covering all the Moveit concepts is out of the scope of this book, ...
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