In this lecture, we will continue our setup of MoveIt! We will learn how to use the MoveIt! Setup assistant tool that helps us configure almost everything we need to work with MoveIt!

Robot Poses define sets of joint values for particular planning groups. In this context in MoveIt! poses are defined as sets of joint values.

• Define two sets of joint values

Robot 1

• • • Press on Add Pose
    • Planning Group: robot1
    • robot1_shoulder_pan_joint: move the slider slightly (0.4143 rad)
    • robot1_shoulder_lift_joint: -1.57 rad (90deg turn)
    • robo1_wrist_1_joint: -1.57 rad (90deg turn)
    • Pose Name: R1Up

Robot 2

• Press on Add Pose
• Planning Group: robot2
• robot1_shoulder_pan_joint: move the slider slightly (0.4143 rad)
• robot2_shoulder_lift_joint: -1.57 rad (90deg turn)
• robot2_wrist_1_joint: -1.57 rad (90deg turn)
• Pose Name: R2Up

Once we define the real controllers the motion will look much smoother.

In the unit End Effectors, we can define the set of links and joints. Also, we can let MoveIt! plan our end effectors.

• For now, we leave it empty

Passive Joints specify one or multiple robot joints as passive. MoveIt! will then consider these joints as not available for planning.

Author Information is required as this generates a ROS package.

• Name
• Email

Generate Configuration Files contain files with information about the choices we made in the previous steps so the MoveGroup node can use it.

• specify the desired directory
  $HOME/hrwros_ws/src/hrwros/hrwros_moveit_config
• Generate Package
  • • confirm that no end effectors have been added

Let’s take a quick look at the generated ROS package.
$ cd src/hrwros/hrwros_moveit_config
$ cd config
$ cd ../launch

We see configuration files and a launch folder containing a lot of launch files. We will focus mostly on move_group.launch.