Summary

In this chapter, we explored some advanced features of MoveIt!, showing how to write C++ code to control simulated and real robotic manipulators. The chapter started with a discussion on collision checking using MoveIt!. We saw how to add a collision object using MoveIt! APIs, and 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!. After discussing these aspects, we switched to hardware interfacing of MoveIt! using DYNAMIXEL servos and its ROS controllers. In the end, we saw a real robotic arm called COOL arm and its interfacing to MoveIt!, which was completely built using DYNAMIXEL controllers. In the next chapter, we will discuss another kind of robotic platform, aerial robots, and how to integrate and program them using ROS.

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