In the previous chapter, we learned how to configure the navigation stack with any mobile robot. Subsequently, we looked into executing Simultaneous Localization and Mapping (SLAM). In addition, we have also discussed the Adaptive Monte Carlo Localization (AMCL) algorithm of the navigation stack.

In this chapter, we will address how to create and configure a MoveIt! package for a manipulator robot and perform motion planning. We will also learn how to add perception and perform grasping.

ROS manipulation is the term used to refer to any robot that manipulates something in its environment. And what does this mean? Well, it means that it physically alters something in the world, for instance, by changing it from its initial position.

The main goal of this chapter is to learn the basic tools that we need to know about in order to understand how ROS manipulation works, and how to implement them for any manipulator robot.

There are many reasons why we should learn to perform manipulation. Manipulator robots are already being used in many environments, providing solutions to tasks that are really hard to develop for us humans, for many reasons. We will cover some of these reasons in the following subsections.