The grasping sequence executed in the MoveIt! demo uses fake controllers. We can send the trajectory to the actual robot or Gazebo. In Gazebo, we can launch the grasping world to perform this action.
In the real hardware, the only difference is that we need to create joint trajectory controllers for the arm. One of the commonly used hardware controllers is the DYNAMIXEL controller. We will learn more about the DYNAMIXEL controllers in the next section.
Get Mastering ROS for Robotics Programming - Second Edition now with the O’Reilly learning platform.
O’Reilly members experience books, live events, courses curated by job role, and more from O’Reilly and nearly 200 top publishers.
Get Mark Richards’s Software Architecture Patterns ebook to better understand how to design components—and how they should interact.
Dive in for free with a 10-day trial of the O’Reilly learning platform—then explore all the other resources our members count on to build skills and solve problems every day.
Start your free trial Become a member now