The MoveIt! project is a ROS package that helps with motion planning for robotic manipulators. As such, it is especially useful for working with and planning for arms!

Features:

• Motion Planning
  • Generate high-degree of freedom trajectories through cluttered environments and avoid local minimums
• Manipulation
  • Analyze and interact with your environment with grasp generation
• Inverse Kinematics
  • Solve for joint positions for a given pose, even in over-actuated arms
• Control
  • Execute time-parameterized joint trajectories to low level hardware controllers through common interfaces
• 3D Perception
  • Connect to depth sensors and point clouds with Octomaps
• Collision Checking
  • Avoid obstacles using geometric primitives, meshes, or point cloud data

https://moveit.ros.org/

This tutorial will only cover the basics for MoveIt!, up to and including the move_group interface. It won't cover the implementations of that interface, or any other deeper APIs, such as the pick and place pipeline, or time parametrisation.

Knowledge of the following will be presumed:

• Python
• C++
• Robot Operating System (ROS)

Or leave a tip! ヾ(°∇°*)

All credits and sources are listed inside the tutorials and references themselves.

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