Tutorials

Please see the new [http://moveit.ros.org/documentation/tutorials MoveIt! tutorials] - this wiki page is deprecated!!

Configuration

 * Setting up MoveIt! with your robot using the MoveIt! Setup Assistant - Follow the PR2 example to see how to setup MoveIt! with your robot.
 * Setting up MoveIt! with the controllers on your PR2
 * Setting up MoveIt! with the sensors on your robot
 * Adding a new planner to MoveIt!

Kinematics

 * Forward and Inverse Kinematics using the RobotModel and RobotState classes (C++)
 * Getting the Jacobian (C++)
 * Integrating your own kinematics implementation as a custom plugin (C++)
 * Forward and Inverse Kinematics (ROS)
 * Collision-Aware Inverse Kinematics (ROS)

Collision Checking

 * Self-collision checking using the PlanningScene API (C++)
 * Full collision checking using the PlanningScene API (C++)

Constraint Checking

 * Checking constraints for a state using the PlanningScene API (C++)
 * Specifying a user-defined constraint (C++)

Moving the robot

 * MoveGroup Interface (C++)
 * Picking up an object using the MoveGroup Interface (C++)
 * Placing an object using the MoveGroup Interface (C++)

ROS Actions

 * move_group action
 * pick action
 * place action

ROS Services

 * get_planning_scene service
 * plan_kinematic_path service
 * execute_kinematic_path service
 * check_state_validity service
 * compute_ik, compute_fk services