Introduction to Project Tools

Now that your workspace is all set and you have successfully built the project package, you are now ready to dive into the project. But before that, let us take a step back to get familiar with a few tools which form the foundation of this project. These tools include:

• Gazebo, a physics based 3D simulator extensively used in the robotics world:

• RViz, a 3D visualizer for sensor data analysis, and robot state visualization:

• Moveit!, a ROS based software framework for motion planning, kinematics and robot control: