WEBVTT

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In this course, we will use just some of the functionalities offered by movies to specifically those

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related to inverse kinematics computation and trajectory planning.

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As move.

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It is a feature rich software with numerous capabilities.

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Let's explore its organization and key concepts to understand the underlying logic behind their usage

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and configuration.

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This will also enable you to independently experiment with new functionalities that we won't cover during

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this course.

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At the core of Move It.

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Lies the Move Group, which acts as a middleware for the communication between all the other components

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and functionalities of it.

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It facilitates the exchange of resources among various modules.

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One of such modules will be using is the trajectory execution, which allows us to interface directly

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with move it, controlling the robot's movement logic and the trajectory planning for the execution

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in the physical robot.

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This module interfaces directly with the controllers of the robot's motors through the Ros2 Control

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library, ensuring that each joint follows a predefined trajectory, so positioning each joint at a

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specified point in time.

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Another essential functionality involves managing and updating a planning scene which represents the

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robot's environment and the obstacle surrounding it.

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This information is crucial during directory planning to ensure a collision free movement.

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Typically, the robot is equipped with sensors such as 3D cameras or lasers to detect obstacles, allowing

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it to create and manage the planning scene.

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With the information from the planning scene and the robot's kinematic data, it becomes possible to

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plan trajectories that move the robot and a vector from one point to another in the three dimensional

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space while avoiding obstacles.

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Of course, one of the essential modules for the trajectory planning is the inverse kinematic solver.

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Although Movie two already provides several general purpose solvers for the inverse kinematics which

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we are going to use in this course, it is also possible to write custom solvers that are tailored for

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a specific robot.

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These custom solutions are often used to fasten kinematics calculation, especially in industrial settings.

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Finally to make all these functionalities easily accessible for various purposes.

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Move to also offers different user interfaces to interact with its library.

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For instance, we will use a graphical interface via RVs to send goals to the robot plan and execute

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trajectories.

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Additionally, there is also a command line interface and an API in Python and C plus plus allowing

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the usage of movies from any node from any Ros two application.