Groovy/Configuration

The primary means of configuring MoveIt! for your robot is through the MoveIt! Setup Assistant. The setup assistant will perform most configuration steps for your robot, starting with a working URDF for the robot. There are still a couple of steps that needs to be done manually:
 * Configuration of the interface to the controllers on your robot
 * Configuration of the sensors on your robot.

Documentation

 * URDF - MoveIt! starts with a URDF, the Universal Robot Description Format, the native format in ROS for describing robots.
 * SRDF - The SRDF or Semantic Robot Description Format provides additional information about the robot.
 * Setup Assistant - The MoveIt! Setup Assistant can be used to configure MoveIt! for most capabilities.
 * Controller Setup - Configuring MoveIt! to talk to the controllers on a robot.
 * Sensor Setup - MoveIt! can be configured to use input from different sensors, and also to control the serial chains on which sensors are mounted, e.g. the head of the PR2.

Links

 * Back to Capabilities
 * Back to the Main Page