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  1. Getting started with arm navigation

    This tutorial describes how to get started with using the arm navigation stack to plan and control a robot arm.

  2. Moving the arm to a joint goal

    In this tutorial, we will use a simple action client to get the move_arm node to move the arm to a joint goal.

  3. Moving the arm to a pose goal

    In this tutorial, we will use the action client to send a pose goal for the move_arm node to move the arm to.

  4. Specifying complex pose goal constraints

    In this tutorial, we will use the action client to send a pose goal for the move_arm node to move the arm to. We will also learn how to specify a region of tolerance for the pose goal using a geometric shape.

  5. Specifying path constraints for motion planning

    This tutorial will show you how to specify path constraints for move_arm. This is useful, e.g., if you want to execute tasks like moving a glass with water in it. You can use the path constraints to specify that the glass should stay approximately upright.

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WARNING: The move_arm package is currently in the final stages of development, but has not yet been released. It integrates complex functionality, moving the arm while also performing motion planning and obstacle avoidance.

Currently, the released version of ROS allows you to perform the simpler task of moving the arm along a pre-specified joint trajectory, without advanced motion planning or obstacle avoidance. Please see Moving the arm using the Joint Trajectory Action.


2019-07-13 12:52