Chapter 10. Exploring the Advanced Capabilities of ROS-MoveIt!

In the previous chapter, we covered ROS navigation stack and interfacing a mobile robotic hardware to the navigation stack. Similarly, in this chapter, we are going to cover the capabilities of MoveIt!, such as collision avoidance, perception using 3D sensors, grasping, picking, and placing. After this, we will see the interfacing of a robotic manipulator hardware to MoveIt!.

The following are the main topics discussed in this chapter:

  • Motion planning of arm using MoveIt! C++ APIs
  • Working with collision checking in robot arm using MoveIt!
  • Working with perception in MoveIt! and Gazebo
  • Understanding grasping using the moveit_simple_grasps ROS package
  • Simple robot pick and place using MoveIt! ...

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