https://github.com/methyldragon/moveit-tutorial

Quick crash course for the MoveIt! motion planning framework for ROS robotic manipulators! 🙌
https://github.com/methyldragon/moveit-tutorial

manipulator moveit references robotics ros tutorial tutorials

Last synced: 18 days ago
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Quick crash course for the MoveIt! motion planning framework for ROS robotic manipulators! 🙌

• Host: GitHub
• URL: https://github.com/methyldragon/moveit-tutorial
• Owner: methylDragon
• License: bsd-2-clause
• Created: 2019-07-22T10:51:32.000Z (over 5 years ago)
• Default Branch: master
• Last Pushed: 2019-08-30T04:25:30.000Z (over 5 years ago)
• Last Synced: 2024-11-23T12:32:02.519Z (3 months ago)
• Topics: manipulator, moveit, references, robotics, ros, tutorial, tutorials
• Size: 1.21 MB
• Stars: 8
• Watchers: 2
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# MoveIt! Tutorial

![Brand](assets/moveit_logo.png)

## Introduction

The MoveIt! project is a ROS package that helps with motion planning for robotic manipulators. As such, it is especially useful for working with and planning for arms!

Features:

> - Motion Planning

>   - Generate high-degree of freedom trajectories through cluttered environments and avoid local minimums

> - Manipulation

>   - Analyze and interact with your environment with grasp generation

> - Inverse Kinematics

>   - Solve for joint positions for a given pose, even in over-actuated arms

> - Control

>   - Execute time-parameterized joint trajectories to low level hardware controllers through common interfaces

> - 3D Perception

>   - Connect to depth sensors and point clouds with Octomaps

> - Collision Checking

>   - Avoid obstacles using geometric primitives, meshes, or point cloud data

>

> 

This tutorial will only cover the basics for MoveIt!, up to and including the move_group interface. It won't cover the implementations of that interface, or any other deeper APIs, such as the pick and place pipeline, or time parametrisation.

## Pre-Requisites

Knowledge of the following will be presumed:

- Python

- C++

- Robot Operating System (ROS)

## Support my efforts!

 [![Yeah! Buy the DRAGON a COFFEE!](./assets/COFFEE%20BUTTON%20%E3%83%BE(%C2%B0%E2%88%87%C2%B0%5E).png)](https://www.buymeacoffee.com/methylDragon)

[Or leave a tip! ヾ(°∇°*)](https://www.paypal.me/methylDragon)

## Credits

All credits and sources are listed inside the tutorials and references themselves.

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