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ROSCon 2019

Video recordings from ROSCon 2019

roscon.ros.org/2019/

ROSCon 2019 Macau: Introducing MoveIt Grasps, a manipulation framework tightly integrated with MoveIt.

Michael Lautman (PickNik)

MoveIt has long been the leading open source motion planning framework, due in part to the communities' focus on improving core functionality. This has come at the cost of not expanding MoveIt's scope into peripheral manipulation subtasks such as perception and grasping. As we at PickNik have engaged with dozens of companies that use MoveIt, it has become clear that in more of the manipulation pipeline is needed to elevate the capabilities of open source robotic manipulation software. Over the last year PickNik has been collaborating with Rapyuta Robotics to improve a grasping library worthy of the name MoveIt Grasps. Officially released only a few months ago, MoveIt Grasps provides a framework for planning grasps of objects such as blocks or cylinders with multiple gripper types and can be used as a replacement for the often criticized pick-and-place MoveGroup capability. In this talk we will introduce the core components of the MoveIt Grasps framework, explore the use cases and demonstrate the rich visualization functionality provided by the MoveIt Grasps framework.

Video presented at ROSCon 2019. More details and slides are available at: roscon.ros.org/2019/.

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