MoveIt! Tutorial

Introduction

The MoveIt! project is a ROS package that helps with motion planning for robotic manipulators. As such, it is especially useful for working with and planning for arms!

Features:

• Motion Planning
  • Generate high-degree of freedom trajectories through cluttered environments and avoid local minimums
• Manipulation
  • Analyze and interact with your environment with grasp generation
• Inverse Kinematics
  • Solve for joint positions for a given pose, even in over-actuated arms
• Control
  • Execute time-parameterized joint trajectories to low level hardware controllers through common interfaces
• 3D Perception
  • Connect to depth sensors and point clouds with Octomaps
• Collision Checking
  • Avoid obstacles using geometric primitives, meshes, or point cloud data

https://moveit.ros.org/

This tutorial will only cover the basics for MoveIt!, up to and including the move_group interface. It won't cover the implementations of that interface, or any other deeper APIs, such as the pick and place pipeline, or time parametrisation.

Pre-Requisites

Knowledge of the following will be presumed:

• Python
• C++
• Robot Operating System (ROS)

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Credits

All credits and sources are listed inside the tutorials and references themselves.

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