MoveIt! package

MoveIt! is an advanced motion planning framework used in robotic systems, particularly for controlling robot arms. It is a key tool in the ROS ecosystem, providing capabilities to plan, simulate, and execute complex robotic motions.

Niryo robots rely heavily on this framework to execute the following operations:

  1. Motion Planning: MoveIt! enables the robot arm to compute collision-free paths for reaching target positions.

  2. Kinematics and Dynamics: MoveIt! solves inverse kinematics (IK) and forward kinematics (FK) for precise motion control of the robot arm.

  3. Integration with ROS: MoveIt! seamlessly integrates with ROS topics, services, and action servers, making it easy to control our robot via ROS nodes.

You can follow tutorials about using Moveit! with ROS Noetic here.