MoveIt tutorial

This is my personal version of the MoveIt tutorial available here.

Motion planning problem part	movet interface class	classes used
Robot description	srdf	rdf_loader::RDFLoader and setup assistant
Workspace modelling, representation and collision detection	PlanningSceneMonitor and PlanningScene	tf2_ros::Buffer, occupancy_map_monitor::OccupancyMapMonitor, moveit::RobotModel, collision_detection::CollisionPluginLoader
Robot model, state and kinematics	robot_model::RobotModel, robot_state::RobotState	JointModelGroup, Eigen::Isometry3d, robot_model_loader::RobotModelLoader
Motion planning problem defintion and solver interface	planning_pipeline::PlanningPipelie	PlanningContext, PlannerManager, PlanningRequestAdapter,PlanningRequestAdapterChain
Motion control	TrajectoryExecutionManager	moveit_controller_manager::MoveItControllerManager and its derivaties as MoveItSimpleControllerManager

Tutorial structure

• /00_rsdf_and_setup_assistant brief tutorial about using the MoveIt setup assistant. This procedure will generate the necesary files to describe the robot and its default workspace.
• /01_robot_model_and_kinematics how do the robot model and the robot state works. Here we will learn how the direc kinematics is computed. We will use the following classes
  • robot_model_loader::RobotModelLoader
  • robot_model::RobotModel
  • robot_state::RobotState
  • moveit::core::JointModelGroup
• /02_planning_scene How to use the planning scene to perform the collision detection task. We will use the following classes
  • planning_scene::PlanningScene
  • planning_scene::PlanningSceneMonitor
  • moveit_msgs::CollisionObject
  • moveit_msgs::AttachedCollisionObject
  • shape_msgs::SolidPrimitive
  • collision_detection::CollisionRequest
  • collision_detection::CollisionResult
• /03_planning_contex_and_planner_manger How to plan paths using the OMPL. We will use the following classes
  • planning_interface::PlannerManager This class is a plugin
  • planning_interface::PlanningContext
  • planning_interface::MotionPlanReques
  • planning_interface::MotionPlanResult
  • moveit_msgs::RobotTrajectory and robot_trajectory::RobotTrajectory
• /04_planning_pipeline How to plan motions (paths and trajectories). We will use the following classes
  • planning_pipeline::PlanningPipeline
• /common_packages packages used across the tutorial
• /docker docker files to build the image to run this tutorial.