MoveIt integration

[jade-tea-h]

Description

Fully integrate the arm with MoveIt to enable inverse-kinematics functionality then demonstrate how to use MoveIt manually and in code.
The end goal is to provide an introduction to MoveIt and how the configuration for our team rover should eventually look.

Preferred Solution

Work through the MoveIt tutorial providing all files to demonstrate how they should look.
Then write a short tutorial to guide a user through using MoveIt with the simulated rover themselves and write example code that utilizes the action server and other interfaces MoveIt provides.

Acceptance Criteria

• Generated basic_rover_moveit_config package
• Launch files for:
  • Basic required nodes
  • Rviz visualization and motion planning

Tests

Documentation

• README.md containing:
  • Basic explanation of what MoveIt is and what its useful for
  • Tutorial on using rviz and/or the terminal for basic motion planning
  • Outline of what is contained in the package

[jade-tea-h]

Look into MoveIt docs on tests.