Simulating the application

Now, everything is set for the final demonstration. We have a robot base that can move autonomously in the environment and the arm can move to any location that we define it to go to. So, to run our application, we need to perform the following steps:

1. Map and save the environment.
2. Choose the points on the environment.
3. Add the points to our library.
4. Define the respective states.
5. Complete the state machine.

Let's look at these steps in detail.

Mapping and saving the environment

Follow these steps to map and save the environment:

1. The first step is to make the robot understand the environment. For this, we use an open source mapping technique we saw in the Making our robot arm intelligent section...