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Home Courses Hello (Real) World with ROS – Robot Operating System Course materials Lectures 4.2.1 Manipulation with Movelt

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
      • several ROS services and actions
  • Configuring the move_group node
      • 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//.
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