Home Courses Hello (Real) World with ROS – Robot Operating System Course materials Lectures 4.5.1 Move Group interface

4.5.1 Move Group interface

Course subject(s) Module 4. Manipulation

In this lecture, we learn how we enter commands in our own ROS node using the MoveGroup Interface and create a simple pick and place pipeline.

MoveGroup Interface:

  • APIs access capabilities of move_group ROS node
  • MoveIt!-base ROS applications
  • Setup a simple pick and place pipeline
      • using ROS action clients

Conceptual overview

MoveIt takes care of trajectory execution (with Gazebo or hardware)
MoveGroup Interface sends these trajectories (MoveIt! Commander uses this implicitly)

Why?

  • MoveIt! commander scripts
      • program sequence of commands
  • Why learn MoveGroup Interface to do the same thing?
      • access more capabilities
      • process intermediate results
      • flexibility
  • Automated behavior
      • motion module is just one component
      • user input should just be one press
Creative Commons License
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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