Best Ways to use moveit?

• rrr-arm

  2 13 0.0 CMake

  ROS package for 3 DOF Revolute-Revolute-Revolute robot arm built from scratch using xacro model. The developed robot is visualized in Rviz, and simulated in Gazebo simulator. MoveIt config package for the robot is developed and interfaced with Gazebo (find the link at the end of the page).

Here is a simple robot arm built with primitive geometry and interfaced with Gazebo. A teaching assistant from Worcester Polytechnic Institute informed me it is beneficial. He used it with a robotics course.

• rrr_arm_config

  2 1 0.0 CMake

  MoveIt configuration package for Revolute Revolute Revolute (RRR) robot arm built from scratch and interfaced with Gazebo

Here, I listed the steps of using MoveIt assistant for the above simple arm and showed primary motion planning and collision avoidance.

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• gazebo-controllers-config

  1 1 3.2

  This repo describes a systematic way of setting up Gazebo controllers to spawn robots in Gazebo and get them up and running

In my opinion, the most challenging part of the interface with Gazebo is that the joints controllers config files are not working as expected when exported from MoveIt assistant. At the moment, I am writing a systematic way to get them written. It will be available at this link.

Suggest a related project