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You're reading from  Mastering ROS for Robotics Programming. - Second Edition

Product typeBook
Published inFeb 2018
Reading LevelExpert
PublisherPackt
ISBN-139781788478953
Edition2nd Edition
Languages
C++
Tools
ROS
Concepts
Robotics
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Author (1)
Lentin Joseph
Lentin Joseph
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Lentin Joseph

Lentin Joseph is an author and robotics entrepreneur from India. He runs a robotics software company called Qbotics Labs in India. He has 7 years of experience in the robotics domain primarily in ROS, OpenCV, and PCL. He has authored four books in ROS, namely, Learning Robotics using Python, Mastering ROS for Robotics Programming, ROS Robotics Projects, and Robot Operating System for Absolute Beginners. He is currently pursuing his master's in Robotics from India and is also doing research at Robotics Institute, CMU, USA.
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Motion planning using the move_group C++ interface

In Chapter 6, Using the ROS MoveIt! and Navigation Stack, we discussed how to interact with a robot arm, and how to plan its path using the MoveIt! RViz motion planning plugin. In this section, we will see how to program the robot motion using the move_group C++ APIs. Motion planning using RViz can also be done programmatically through the move_group C++ APIs.

The first step to start working with C++ APIs is to create another ROS package that has the MoveIt! packages as dependencies. You can get an existing seven_dof_arm_test package from the code provided with this book, or you can download it from the following repository:

$ git clone https://github.com/jocacace/seven_dof_arm_test.git

We can create this same package using the following command:

$ catkin_create_pkg seven_dof_arm_test catkin cmake_modules interactive_markers moveit_core moveit_ros_perception moveit_ros_planning_interface pluginlib roscpp std_msgs

Motion planning a random path...

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Mastering ROS for Robotics Programming. - Second Edition
Published in: Feb 2018Publisher: PacktISBN-13: 9781788478953
© 2018 Packt Publishing Limited All Rights Reserved

Author (1)

author image
Lentin Joseph

Lentin Joseph is an author and robotics entrepreneur from India. He runs a robotics software company called Qbotics Labs in India. He has 7 years of experience in the robotics domain primarily in ROS, OpenCV, and PCL. He has authored four books in ROS, namely, Learning Robotics using Python, Mastering ROS for Robotics Programming, ROS Robotics Projects, and Robot Operating System for Absolute Beginners. He is currently pursuing his master's in Robotics from India and is also doing research at Robotics Institute, CMU, USA.
Read more about Lentin Joseph

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