ROS Manipulation Overview

• Moveit! - a ROS package for manipulation
• Moveit! setup assistant - configure robot setups to use moveit
• plan and execute motion - the “Move_group” Ros Node
• Implement a simple pick and place pipeline
• interact with the environment and modify it using a robot to perform useful tasks
  • pick and place an object
  • fasten two parts of a car chassis
• An integral part of automation

• Moveit : open source software library for manipulation
  • easy integration with ros
  • maintain information consistency
  • integrate robot kinematic information with planning
  • report and request alternative motion plans in case of collisions
  • Account for any hardware limitations such as joint limits
  • keep track of the current state of the robot and its environment while performing a manipulation task
  • talk to the robot hardware/simulation and notify the ros application once a desired manipulation task is complete
• Moveit! - from a user’s perspective
  • move_group Ros node
    • several ros Service and actions (APIs)
    • Configuring the move_group node
      • robot description (URDF/XACRO)
      • robot_semantic description(SRDF)
      • joint limit, planner
• where are trajectories executed
  • simulated robot or real hardware
• what controls trajectory execution in simulation or hardware
  • controller on a simulator or a hardware driver
  • simulation package hrwros_gazebo
• how does moveit! talk to the controllers from simulation?
  • ros topics and actions servers

Basic commands

command

#!/bin/bash
rosrun moveit_commander moveit_commander_cmdline.py /joint_states:=/combined_joint_states joint_states:=/combined_joint_states

• list all usable command
  • help
• select the “group” to use
  • use
• plan and execute motion form srdf
  • go
• get current joint state and pose
  • current
• Execute multiple commands
  • load <path_to_script_file/scrip_file_name>

MoveGroup Interface

• A collection of APIs to access the various capabilities of Move_group Ros node
• Create Moveit!-based ROS applications
• Setup a simple pick and plcae pipline in code with movegroup APIs
  • using ROS action client