ROS-RM - Session II Print

Session II:  Moveit! - A Tool for Manipulation

(9:45-11:15, July 23, 2014)

Dr. Sachin Chitta (SRI International, USA)

 

Abstract

In this talk, I will walk the audience through the process of installing, configuring and using MoveIt! for motion planning with manipulators in ROS. Topics that will be covered and demoed live  include installing MoveIt!, configuring MoveIt! for a new robot, interacting with a robot using the MoveIt! motion planning plugin, executing simple motion plans on a new robot, integrating with controllers, integrating with perception, cartesian motion and scripting tasks.

Speaker short bio

Sachin Chitta, Ph.D., is Associate director of Robotics Systems and Software in the Robotics Program at SRI International. His research interests include mobile manipulation, motion planning and learning for manipulation. Sachin currently coordinates development of the MoveIt! software platform - the premier open-source platform for manipulation and mobile manipulation in Robotics. Before joining SRI, Sachin Chitta was a manager and research scientist at Willow Garage where he led the autonomous mobile manipulation group, developing new technology for mobile manipulation in unstructured environments. He was at Willow Garage from 2007-2013 and was a core member of the team that developed the PR2 robot and the Robot Operating System (ROS). He initiated and led the development of the MoveIt! and Arm Navigation software platforms to enable advanced manipulation capabilities for any robot. This software is now used by developers, researchers and companies around the world. Sachin was a key member of the team that founded Redwood Robotics, a joint venture between Willow Garage, MEKA and SRI. Sachin was a finalist for the 2013 World Technology Award in the IT Software (Individual) category. Sachin was the keynote speaker at ROSCON 2013. His work has won best paper awards at ICAR (2009), ASME IDETC (2008) and been nominated for a best paper award at ICRA 2011. His work on the Open Motion Planning Library (in collaboration with Lydia Kavraki's group at Rice University) won the OSS World Challenge Grand Prize in 2012. Sachin received his Ph.D. from the Grasp Laboratory at the University of Pennsylvania in 2005.

Relevant references

You can get more detailed information about the Speaker in the following links:

Speaker's website: http://www.sachinchitta.org

MoveIt!: http://moveit.ros.org