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Kortex MoveIt! Config

Overview

This folder contains all the auto-generated MoveIt! configuration ROS packages. These packages have been generated using the MoveIt! Setup Assistant.

Naming

The packages that don't use a gripper are named ARM_move_it_config, where "ARM" is the name of the arm you are using. See the kortex_description/arms folder for a list of supported Kinova Kortex robots.

The packages that use a gripper are named ARM_GRIPPER_move_it_config, where "ARM" is the name of the arm you are using and "GRIPPER" is the name of the gripper you are using.
See the kortex_description/grippers folder for a list of supported Kinova Kortex grippers.

Using MoveIt! with Kinova Kortex Robots

Upon launching the main launch file of a move_it_config package, move_group.launch (normally launched from the real arm driver's launch file and the simulation launch file), the C++ and Python interfaces for MoveIt will be enabled. You will be able to use motion planning, configure the planning scene, send trajectories and send pose goals to the simulated robot from your own ROS nodes.

You can take a look at our MoveIt! Python example for a concrete example.