Summary

In this chapter, we explored some advanced features of MoveIt!, and how to interface it into a real hardware. The chapter started with a discussion on collision checking using MoveIt!. We saw how to add a collision object using MoveIt! APIs, and also saw the direct importing of mesh to the planning scene. We discussed a ROS node to check collision using MoveIt! APIs. After learning about collisions, we moved to perception using MoveIt!. We connected the simulated point cloud data to MoveIt! and created an OctoMap in MoveIt!. The next topic we discussed was how to perform pick and place actions to manipulate objects in the scene. We presented a ROS package to autonomously generate grasping poses starting from object point clouds. After discussing these things, we switched to hardware interfacing of MoveIt! using dynamixel servos and its ROS controllers. In the end, we saw...