4.2.1 Manipulation with Movelt
Course subject(s)
Module 4. Manipulation
In this lecture, MoveIt! will be further explained. Furthermore, functional modules of manipulation will be configured with MoveIt!
About MoveIt!
- Software for manipulation, easy integration with ROS
- Often used for serial link manipulators
- Configure and use functionalities associated with manipulation
Under the hood:
- Information consistency
- Integrate kinematic information
- Collision detection
- Takes account for any hardware limitations
- Keeps track of Robot location
- Communicate with hardware/simulation
Users perspective:
- Move_group ROS node
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- several ROS services and actions
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- Configuring the move_group node
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- robot-description (URDF/XACRO)
- robot semantic description (SRDF)
- joint limits, planners, etc.
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Hello (Real) World with ROS - Robot Operating System by TU Delft OpenCourseWare is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
Based on a work at https://online-learning.tudelft.nl/courses/hello-real-world-with-ros-robot-operating-systems//.