Welcome to DOFBOT SE repository
2. MoveIt Usage
MoveIt Usage
MoveIt Usage1. Launching MoveIt3. Customizing Poses3.1. Setting the Pose3.2. Planning the Motion3.2. Executing the Action4. Preset Poses4.1. Robotic Arm Poses4.1.1. Setting the Pose4.1.2. Planning and Executing the Pose4.2. Gripper Pose4.2.1. Setting the Pose4.2.2. Planning and Executing the Pose4.3. Planning Options
1. Launching MoveIt
xxxxxxxxxxros2 launch dofbot_moveit demo.launch.py
Click the "Planning" tab -> [Start State]: Select "current".
Switch the "Goal State" below to the "Init" state, then click [Plan & Execute]. You should then see the robotic arm change its pose within the simulation environment.
3. Customizing Poses
3.1. Setting the Pose
Control the robotic arm's pose by dragging the interactive marker (trackball) located on the arm within RViz. The trackball is the spherical object on the arm; the yellow arm represents the target state.
Note: The robotic arm will only change its pose if the trackball is dragged to a reachable position.
3.2. Planning the Motion
Click MotionPlanning → Planning → Plan to plan the robotic arm's movement to the specified pose.
Initiating Motion Planning
The translucent outline of the robotic arm represents the planned motion. If no specific settings have been configured for the planning path, the robotic arm will continuously repeat the planned path.
Disable the planning path loop: Once disabled, the robotic arm will plan the path to the specified pose only once. 
3.2. Executing the Action
Click MotionPlanning → Planning → Execute to command the robotic arm to move to the specified pose.
Once clicked, the Execute button becomes disabled (unclickable) while the planning process is in progress.
4. Preset Poses
Preset poses refer to the various poses for the robotic arm that were configured within the MoveIt Setup Assistant.
Under MotionPlanning → Planning → Planning Group, you can select the planning group: either the robotic arm or the gripper.
Under MotionPlanning → Planning → Start State, you can set the starting pose for the planning trajectory.
Under MotionPlanning → Planning → Goal State, you can set the target pose for the planning trajectory.
4.1. Robotic Arm Poses
Under MotionPlanning → Planning → Planning Group, set the planning group to: arm_group.
4.1.1. Setting the Pose
Under MotionPlanning → Planning → Goal State, set the target pose for the planning trajectory to: init.
4.1.2. Planning and Executing the Pose
Click MotionPlanning → Planning → Plan & Execute to command the robotic arm to both plan and execute the movement to the specified pose. 
4.2. Gripper Pose
Under MotionPlanning → Planning → Planning Group, set the planning group to: grip_group.
4.2.1. Setting the Pose
Under MotionPlanning → Planning → Goal State, set the target pose for planning to: close.
4.2.2. Planning and Executing the Pose
Click MotionPlanning → Planning → Plan & Execute to have the gripper plan and execute the movement to the specified pose.
4.3. Planning Options
MotionPlanning → Planning → Options allows you to control the Planning Time, Planning Attempts, Velocity Scaling (for planning/execution speed), and Accel. Scaling (for planning/execution acceleration).
