Day 4

• xArm7 safety and xArmStudio live control
• Installing xArm7 packages for ROS Noetic
• Motion planning and MoveIt, MoveIt GUI
• Kinematic descriptions with URDF/XACRO and generating MoveIt configuration packages
  • Creating a new robot description with URDF
  • Generating MoveIt configuration package from a URDF
  • Adding new components to an existing robot description
  • Generate a new MoveIt configuration package
• MoveGroup C++ interface for programming the manipulator
  • Brief introduction to MoveGroup C++ interface
  • Before we start coding
  • Planning to a Pose Goal
  • Planning to a Joint Value Goal
  • Planning to a Named Goal
  • Computing a Cartesian Path
• Action Client for opening/closing the gripper
• Pick-and-place task
• MoveIt for multi-robot systems
  • Using XACRO for multi-robot URDF description
  • MoveIt Setup Assistant with multi-robot systems
  • MoveIt GUI with multi-robot system
  • MoveGroup C++ interface: planning with two manipulators