My Moveit Node

Implements a node to control the arm of robot using moveit.

Services:

/move_arm

Description:

There are 7 markers in the environment, the joints configuration for each marker is found and once the move_arm service is called with arg true, reach(req, resp) function tries to find the plan to the corresponding joints configuration and executes it.

Functions

bool reach(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &resp)

Function for planning and executing it to each joints configuration. It uses the provided methods from moveit package for loading robot model, its kinematic and joints group.

Parameters

• req –

• resp –

Returns

true

Returns

false

int main(int argc, char **argv)

main function for my_moveit node

Parameters

• argc –

• argv –

Returns

int