WEBVTT

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In this section of the course, we finally have two powerful tools at our disposal.

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On one end, we have configured and launched Moovit for our robot.

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And on the other end we have learned how to use the Ros to actions.

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Understanding how the communication protocol goal feedback result works.

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Now all that's left is to put the puzzle pieces together and use these two tools to develop new applications,

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complete motion control logics for the robot and activate them using voice commands.

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To do this, we will need to use the entire stack, all the software developed for our robot so far

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and use the interface that Moovit makes available to other developers, also known as APIs.

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We have already used our Moovit interface, specifically its graphical interface available in RVs,

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just as the graphical interface allows users to access all the functionalities of Moovit, such as moving

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the robot planning and executing trajectories and so on.

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An API is a software interface that allows other applications, other software to access all the functionalities

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of Moovit and thus request the robot to perform some movements through code in order to reach a certain

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goal and to request the trajectory, planning and the execution.

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Through this interface, we can develop new application, new Cplusplus and Python nodes that implement

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any motion control logic.

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For example, it could be used for a pick and place of an object or to move the robot's gripper based

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on the position of a person near the robot and so on.

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In fact, this will be our interface for the development of any application, any idea that comes to

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mind involving the robot's motion from one post to another.

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In the upcoming laboratory lessons, we will first implement a sample code that demonstrates how to

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access and use the moved functionalities through the C plus plus and the API scripts.

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And then we will use the sample code and these skills to develop an action server that executes various

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pick and place movements on the robot upon receiving different goals.