Summary

This chapter offered a brief overview of MoveIt! and the Navigation stack of ROS and demonstrated its capabilities using Gazebo simulation of a robotic arm mobile base. The chapter started with a MoveIt! overview and discussed detailed concepts about MoveIt!. After discussing MoveIt!, we interfaced MoveIt! with Gazebo. After interfacing, we executed the trajectory from MoveIt! on Gazebo.

The next section was about the ROS Navigation stack. We discussed its concepts and workings as well. After discussing the concepts, we tried to interface our robot in Gazebo to the Navigation stack and build a map using SLAM. After this, we performed autonomous navigation using amcl and the static map.

In the next chapter, we will discuss pluginlib, nodelets, and controllers.

Here are few questions based on what we covered in this chapter.