My Moveit Node

Implements a node to control the arm of robot using moveit

Services:

/move_arm —> SetBool (Request, Response)

Description:

There are seven boxes in the environment, each box conteins one id and each id identify one room with some information. Defined various joints configuration to get correct position in order to find marker_id designed on the boxes. 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.

There is a 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.