Mobile manipulation task simulation using ROS with MoveIt

Abstract

Visualized simulation has always been one of the most flexible techniques for quick verification of prototype or algorithms. In this paper, we illustrate a simple and effective method of how to implement the simulation of mobile manipulation task using Robot Operation System (ROS) with MoveIt. First, we propose a quick and modular architecture which includes the entire configuration process of system modeling, kinematics, control, and visualization. Then, we demonstrated its application on simulation of a mobile manipulation task in the automatic production line. Experimental results have shown that the proposed architecture achieves an easy configuration, a good integration and functional visualization for manipulation simulation.