Robot Manipulation Using MoveIt 2
In previous chapters, we covered designing and simulating a robotic arm and controlling it using Gazebo. Now, we’ll dive into the arm motion planning problem. Manually controlling a robot’s joints, especially with position or speed limits, can be tricky, since when we control a robot by joints, each joint movement affects the whole structure, making precise positioning of its end-effector hard. That’s why we need an automated way to safely manage the robot’s movements. To do this, we’ll use ROS MoveIt 2, a powerful toolkit in ROS 2 designed to perform robot manipulation tasks. MoveIt 2 simplifies tasks such as motion planning with kinematic models, obstacle detection, and trajectory planning. It offers both a command-line interface and an easy-to-use GUI for adding new robots, plus an RViz2 plugin for planning movements right within the RViz2 environment. Finally, we’ll discuss how to plan motions and avoid...
