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Interfacing MoveIt! with Gazebo

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Aditya Gaddipati edited this page Jul 5, 2017 · 7 revisions

After motion planning, the generated trajectory talks to the controllers in the robot using the FollowJointTrajectoryAction interface. This is an action interface in which an action server is run on the robot, and move_node initiates an action client which talks to this server and executes the trajectory on the real robot/Gazebo simulator.

For interfacing the arm in MoveIt! to Gazebo, we need a trajectory controller which has the FollowJointTrajectoryAction interface.

  1. Home
  2. Setting Up MoveIt!
  3. Understanding MoveIt!
  4. Arm Design
  5. Controlling Arm in Gazebo
  6. Interfacing MoveIt! with Gazebo
  7. Interfacing Real Robot with MoveIt!
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