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Moveit Tutorial

Getting started

First of all you need to install the moveit itself, installing moveit is easy just open a new terminal and type the following command

$ sudo apt-get install ros-indigo-moveit-full

Moveit

NOTE: Right now there only two komodo model which support moveit functionality

• Komodo with arm.
• Komodo with elevator and arm.

Moveit api

About the API

In MoveIt!, the primary user interface is through the RobotCommander class. It provides functionality for most operations that a user may want to carry out, specifically setting joint or pose goals, creating motion plans, moving the robot, adding objects into the environment and attaching/detaching objects from the robot.

Setup

To use the python interface to move_group, import the moveit_commander module. We also import rospy and some messages that we will use.

   1 import sys
   2 import copy
   3 import rospy
   4 import moveit_commander
   5 import moveit_msgs.msg
   6 import geometry_msgs.msg