In this chapter, we are going to cover the capabilities of MoveIt!, such as collision avoidance, perception using 3D sensors, grasping, picking, and placing. After this, we will see the interfacing of a robotic manipulator hardware to MoveIt!.

The following are the main topics discussed in this chapter:

• Motion planning of arm using MoveIt! C++ APIs
• Working with collision checking in robot arm using MoveIt!
• Working with perception in MoveIt! and Gazebo
• Understanding grasping using the moveit_simple_grasps ROS package
• Simple robot pick and place using MoveIt!
• Understanding Dynamixel ROS servo controllers for robot hardware interfacing
• Interfacing 7-DOF Dynamixel based robotic arm to ROS MoveIt!

In this chapter, we can see some of the advanced capabilities of MoveIt! and how to interface a real robotic manipulator to ROS MoveIt!.

The first topic that we are going to discuss is how to motion plan our robot using MoveIt! C++ APIs.