ROS机器人程序设计（原书第2版）补充资料 （拾） 第十章 使用MoveIt!
书中，大部分出现hydro的地方，直接替换为indigo或jade或kinetic，即可在对应版本中使用。
MoveIt!是进行机器人运动规划的一套工具。具体使用说明，推荐参考官网：
ROSwiki国内镜像：http://ros.exbot.net/wiki/
MoveIt!：http://moveit.ros.org/
安装教程：http://moveit.ros.org/install/
教程（indigo）：http://docs.ros.org/indigo/api/moveit_tutorials/html/
教程（kinetic）：http://docs.ros.org/kinetic/api/moveit_tutorials/html/
本书中简单的通过一个示例介绍了MoveIt!的基本使用。
第264页：
介绍MoveIt!的基本安装。
第265-268页：
介绍MoveIt!的基本概念等。
第269-276页：
在MoveIt!配置一个机械臂。
第277-280页：
简单运动规划。
第281-284页：
考虑碰撞的运动规划。
第285-295页：
一个典型的抓取和放置的示例。
第296页：
本章小节。
推荐阅读：
1 moveit_robots：https://github.com/ros-planning/moveit_robots
2 moveit_tutorials：https://github.com/ros-planning/moveit_tutorials
3 moveit_simple_grasps：https://github.com/davetcoleman/moveit_simple_grasps
4 moveit_visual_tools：https://github.com/ros-planning/moveit_visual_tools
5 moveit_pr2：https://github.com/ros-planning/moveit_pr2
巩固与练习：
1 使用pr2机器人完成一个简单抓取和放置的任务。
ROS补充习题：
Setup Your PC
Prerequisites
Linux Fundamentals
Exercise 0.1 - Intro to the Ubuntu GUI
Exercise 0.2 - The Linux File System
Exercise 0.3 - Using the Terminal
C++
Introduction
Presentation Slides - Introduction
Session 1 - ROS Concepts and Fundamentals
Presentation Slides - Session 1
Exercise 1.0 - ROS Setup
Exercise 1.1 - Create a Workspace
Exercise 1.2 - Installing (via APT and from Source)
Exercise 1.3 - Building Packages
Exercise 1.4 - Topics and Messages
Session 2 - Basic ROS Applications
Presentation Slides - Session 2
Exercise 1.5 - Services
Exercise 1.6 - Actions
Exercise 1.7 - Basic Launch Files
Exercise 1.8 - Parameters
Session 3 - Motion Control of Manipulators
Presentation Slides - Session 3
Exercise 2.0 - Intro to URDF
Exercise 2.1 - Workcell XACRO
Exercise 2.3 - Coordinate Transforms using TF
Exercise 2.4 - Build a MoveIt Package
Session 4 - Descartes & Perception
Training Presentation Slides - Session 4
Exercise 2.5 - Motion Planning using C++
Exercise 2.6 - Descartes Path Planning
Exercise 4.4 - Intro. to Perception
Exercise 4.5 - Building a Perception Pipeline
Training Presentation Slides - Recap
Session 5 - Addendum
Presentation Slides - Session 5
Eclipse Setup - Building an a Eclipse Project using Catkin
Qt-Creator Setup - Using Qt Creator with Catkin Projects
Resources
ROS-Industrial Training
Click the appropriate link below for the desired version of ROS:
Setup Your PC
Prerequisites
Linux Fundamentals
Exercise 0.1 - Intro to the Ubuntu GUI
Exercise 0.2 - The Linux File System
Exercise 0.3 - Using the Terminal
C++
Introduction
Presentation Slides - Introduction
Session 1 - ROS Concepts and Fundamentals
Presentation Slides - Session 1
Exercise 1.1 - Installing Packages (via APT) and ROS Setup
Exercise 1.2 - Installing from Source
Exercise 1.4 - Building Packages
Exercise 1.5 - Exploring the Parameter Server
Exercise 1.6 - Topics and Messages
Session 2 - Basic ROS Applications
Presentation Slides - Session 2
Exercise 2.1 - Services
Exercise 2.2 - Creating Actions
Exercise 2.3 - Basic Launch Files
Exercise 2.4 - Coordinate Transforms using TF
Exercise 2.5 - Intro to URDF
Exercise 2.5b - Workcell XACRO
Session 1A - Industrial Calibration
Exercise 1A.1 - Calibrate-able URDFs
Exercise 1A.2 - Moveit Configuration
Exercise 1A.3 - Calibration Configuration
Exercise 1A.4 - Running a Calibration
Session 2A - OpenCV
Presentation Slides - Session 2A
Exercise 2A.1 - CV Bridge
Exercise 2A.2 - Pump Image Processing
Session 3 - Motion Control of Manipulators
Presentation Slides - Session 3
Exercise 3.1 - Examining a Planning Environment
Exercise 3.2 - Verify the URDF
Exercise 3.3 - Build a MoveIt Package
Exercise 3.4 - Update MoveIt Package for ROS-I
Exercise 3.5 - Motion Planning using RViz
Exercise 3.6 - Motion Planning using C++
Exercise 3.7 - Simple MoveIt application
UR-5 Demo - Run Motion on UR-5 Robot
Session 4 - Descartes & Perception
Training Presentation Slides - Session 4
Exercise 4.1 - Descartes Robot Model
Exercise 4.2 - Descartes Trajectory Points
Exercise 4.3 - Descartes Path Planning
Exercise 4.4 - Intro. to Perception
Exercise 4.5 - Building a Perception Pipeline
Session 5 - Addendum
Presentation Slides - Session 5
Eclipse Setup - Building an a Eclipse Project using Catkin
Qt-Creator Setup - Using Qt Creator with Catkin Projects
Application Demo - Perception-Driven Manipulation
Introduction - Perception-Driven Manipulation
Exercise 1 - Inspect the "pick_and_place_exercise" package
Exercise 2 - Package Setup
Exercise 3 - Bring up ROS system in simulation mode
Exercise 4.1: Node Implementation - Inspect initialization and global variables
Exercise 4.2: Node Implementation - Move arm to wait position
Exercise 4.3: Node Implementation - Open gripper
Exercise 4.4: Node Implementation - Detect box pick point
Exercise 4.5: Node Implementation - Create pick moves
Exercise 4.6: Node Implementation - Pick up box
Exercise 4.7: Node Implementation - Create place moves
Exercise 4.8: Node Implementation - Place box
Application Demo - Descartes Planning and Execution
Introduction - Application overview
Structure - Inspect the application packages and files
Setup - Eclipse Setup
General Instructions - Implementing the plan_and_run node
Exercise 1: Node Implementation - Load Parameters
Exercise 2: Node Implementation - Initialize ROS
Exercise 3: Node Implementation - Initialize Descartes
Exercise 4: Node Implementation - Move Home
Exercise 5: Node Implementation - Generate a Semi-Constrained trajectory
Exercise 6: Node Implementation - Plan a robot path
Exercise 7: Node Implementation - Run the robot path