Creating MoveIt! configuration for an industrial robot
The procedure for creating the MoveIt! interface for industrial robots are same as the other ordinary robot manipulators except in some standard conventions. The following procedures give a clear idea about these standard conventions:
Launch the MoveIt! setup assistant using the following command:
$ roslaunch moveit_setup_assistant setup_assistant.launchLoad the URDF from the robot description folder or convert xacro to URDF and load to the setup assistant
Create a Self-Collision matrix with Sampling Density about ~ 80,000. This value can increase the collision checking in the arm
Add a Virtual Joint matrix as shown in the following screenshot. Here the virtual and parent frame names are arbitrary.
Figure 3: Adding MoveIt! - Virtual joints
In the next step, we are adding Planning Groups for manipulator and End Effector, here also the group names are arbitrary. The default plugin is KDL, we can change it even after creating the MoveIt! configuration...
