Pick plan tutorial

doc/pick_place/pick_place_tutorial.rst

@@ -0,0 +1,50 @@
+Pick and Place Tutorial
+============================
+
+In MoveIt!, grasping is done using the MoveGroup interface. In order to grasp an object we need to create ``moveit_msgs::Grasp`` msg which will allow defining the various poses and postures involved in a grasping operation.
+Watch this video to see the output of this tutorial:
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 5%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe width="700px" height="400px" src="https://www.youtube.com/embed/cHxkQwSyrgY?rel=0" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
+    </div>
+
+Getting Started
+---------------
+If you haven't already done so, make sure you've completed the steps in `Getting Started <../getting_started/getting_started.html>`_.
+
+Running The Demo
+----------------
+Open two terminals. In the first terminal start RViz and wait for everything to finish loading: ::
+
+    roslaunch panda_moveit_config demo.launch
+
+In the second terminal run the pick and place tutorial: ::
+
+    rosrun moveit_tutorials pick_place_tutotrial
+
+You should see something similar to the video at the beginning of this tutorial.
+
+Understanding ``moveit_msgs::Grasp``
+------------------------------------
+For complete documentation refer to `moveit_msgs/Grasp.msg. <http://docs.ros.org/kinetic/api/moveit_msgs/html/msg/Grasp.html>`_
+
+The relevant fields of the message are:-
+
+* ``trajectory_msgs/JointTrajectory pre_grasp_posture`` - This defines the trajectory position of the joints in the end effector group before we go in for the grasp. 
+* ``trajectory_msgs/JointTrajectory grasp_posture`` - This defines the trajectory position of the joints in the end effector group for grasping the object.
+* ``geometry_msgs/PoseStamped grasp_pose`` - Pose of the end effector in which it should attempt grasping.
+* ``moveit_msgs/GripperTranslation pre_grasp_approach`` - This is used to define the direction from which to approach the object and the distance to travel.
+* ``moveit_msgs/GripperTranslation post_grasp_retreat`` - This is used to define the direction in which to move once the object is grasped and the distance to travel.
+* ``moveit_msgs/GripperTranslation post_place_retreat`` - This is used to define the direction in which to move once the object is placed at some location and the distance to travel.
+
+The Entire Code
+---------------
+The entire code can be seen :codedir:`here <pick_place>` in the moveit_tutorials GitHub project.
+
+.. |br| raw:: html
+
+   <br />
+
+.. tutorial-formatter:: ./src/pick_place_tutorial.cpp