In this course, we will use just some of the functionalities offered by movies to specifically those
related to inverse kinematics computation and trajectory planning.
As move.
It is a feature rich software with numerous capabilities.
Let's explore its organization and key concepts to understand the underlying logic behind their usage
and configuration.
This will also enable you to independently experiment with new functionalities that we won't cover during
this course.
At the core of Move It.
Lies the Move Group, which acts as a middleware for the communication between all the other components
and functionalities of it.
It facilitates the exchange of resources among various modules.
One of such modules will be using is the trajectory execution, which allows us to interface directly
with move it, controlling the robot's movement logic and the trajectory planning for the execution
in the physical robot.
This module interfaces directly with the controllers of the robot's motors through the Ros2 Control
library, ensuring that each joint follows a predefined trajectory, so positioning each joint at a
specified point in time.
Another essential functionality involves managing and updating a planning scene which represents the
robot's environment and the obstacle surrounding it.
This information is crucial during directory planning to ensure a collision free movement.
Typically, the robot is equipped with sensors such as 3D cameras or lasers to detect obstacles, allowing
it to create and manage the planning scene.
With the information from the planning scene and the robot's kinematic data, it becomes possible to
plan trajectories that move the robot and a vector from one point to another in the three dimensional
space while avoiding obstacles.
Of course, one of the essential modules for the trajectory planning is the inverse kinematic solver.
Although Movie two already provides several general purpose solvers for the inverse kinematics which
we are going to use in this course, it is also possible to write custom solvers that are tailored for
a specific robot.
These custom solutions are often used to fasten kinematics calculation, especially in industrial settings.
Finally to make all these functionalities easily accessible for various purposes.
Move to also offers different user interfaces to interact with its library.
For instance, we will use a graphical interface via RVs to send goals to the robot plan and execute
trajectories.
Additionally, there is also a command line interface and an API in Python and C plus plus allowing
the usage of movies from any node from any Ros two application.