ROS Lecture RRS1

17 Nov 2017 · 1 min

Watch on YouTube

0:56

A demo of MoveIt!'s inverse kinematic solver on a powered-on robot. The speaker shows how to define endpoint positions for the robot arm and execute motion plans in real time.

Chapters

Or describe where that object is in relation to you and that you're going to be using this TF or transform library just not for an arm but to relate objects in your world. Okay. All right. So that's enough about the transform layer. All right. Let's turn on the robot model and motion planning. All right, so we're working on a bit of a smaller screen. So the physical robot is powered on and it's sitting in front of us, and what you're seeing is with that motion is the last motion plan that I ran. And one of the tools for MoveIt!, that inverse kinematic solver, is the ability to define endpoints for the arm as part of the