Until now, though, we've only moved the robot in the MoveIt application. This is very useful, because we can do many tests without worrying about any damage to robot and environment. Anyway, the final goal will always be to move the real robot.

The MoveIt package we've created is able to provide the necessary ROS services and actions in order to plan and execute trajectories, but it isn't able to pass these trajectories to the real robot. All the kinematics we've been performing were executed in an internal simulator that MoveIt provides. In order to communicate with the real robot, it will be necessary to make a couple of modifications to the MoveIt package that we created at the beginning of this section.

Obviously, we don't have a real robot to do this, so we will apply the same but for moving the simulated robot. We will look at what we need to change in our MoveIt package in the following subsection.