In this section of the course, we finally have two powerful tools at our disposal.
On one end, we have configured and launched Moovit for our robot.
And on the other end we have learned how to use the Ros to actions.
Understanding how the communication protocol goal feedback result works.
Now all that's left is to put the puzzle pieces together and use these two tools to develop new applications,
complete motion control logics for the robot and activate them using voice commands.
To do this, we will need to use the entire stack, all the software developed for our robot so far
and use the interface that Moovit makes available to other developers, also known as APIs.
We have already used our Moovit interface, specifically its graphical interface available in RVs,
just as the graphical interface allows users to access all the functionalities of Moovit, such as moving
the robot planning and executing trajectories and so on.
An API is a software interface that allows other applications, other software to access all the functionalities
of Moovit and thus request the robot to perform some movements through code in order to reach a certain
goal and to request the trajectory, planning and the execution.
Through this interface, we can develop new application, new Cplusplus and Python nodes that implement
any motion control logic.
For example, it could be used for a pick and place of an object or to move the robot's gripper based
on the position of a person near the robot and so on.
In fact, this will be our interface for the development of any application, any idea that comes to
mind involving the robot's motion from one post to another.
In the upcoming laboratory lessons, we will first implement a sample code that demonstrates how to
access and use the moved functionalities through the C plus plus and the API scripts.
And then we will use the sample code and these skills to develop an action server that executes various
pick and place movements on the robot upon receiving different goals.