Hi,
I want to use MoveIt! for pathfinding for a simple manipulator arm.
The [MoveIt! Setup Assistant](http://docs.ros.org/indigo/api/moveit_setup_assistant/html/doc/tutorial.html) and [Rviz Integration](http://docs.ros.org/indigo/api/moveit_ros_visualization/html/doc/tutorial.html) tutorials were very helpful for the first usage of MoveIt! with the manipulator arm.
So far I can calculate paths between predefined poses using the Motion Planning extension. for Rviz
However, I now want to want to define a point in cartesian space. MoveIt! should then calculate a fitting manipulator pose itself and present a possible path from the current pose to the goal if there exists one.
I figured that this should be possible through the Move Group Interface of MoveIt! which I would then like to use with Python. This [tutorial](http://docs.ros.org/indigo/api/pr2_moveit_tutorials/html/planning/scripts/doc/move_group_python_interface_tutorial.html) coveres this problem, I think.
But I have no idea how to implement this for my own robot simulation.
Could someone explain me the steps that need to be done to transfer the tutorial on a different robot?
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