Michael ‘v4hn’ Görner, Philipp Ruppel, and Norman Hendrich (Hamburg University, Group TAMS)
MoveIt! is the main mobile-manipulation framework ready-to-use in ROS and chances are that you use it to control your robotic arm. This talk will give you a number of reasons to upgrade your MoveIt! setup and it will point out a number of ways to upgrade your overall MoveIt! experience, both using the framework off-the-shelf, as well as utilizing third-party components. In particular, a new kinematics plugin bioik is presented that allows for combinations of various constraint types and drastically improves upon previous plugins in terms of flexibility, quality of approximate solutions, and performance.