Installing MoveIt!

Let's start with installing MoveIt!. The installation procedure is very simple and is just a single command. Using the following commands, we install the MoveIt! core, a set of plugins ad planners for ROS Kinetic:

$ sudo apt-get install ros-kinetic-moveit ros-kinetic-moveit-plugins ros-kinetic-moveit-planners
  

MoveIt! architecture

Let's start with MoveIt! and its architecture. Understanding the architecture of MoveIt! helps to program and interface the robot to MoveIt!. We will quickly go through the architecture and the important concepts of MoveIt!, and start interfacing and programming our robots.

Here is the MoveIt! architecture, included in their official web page, at http://moveit.ros.org...