# 12.8. MoveIt! 套件
* 要啟動 MoveIt!，請開新的 terminal 視窗然後輸入以下指令。
```
$ export TURTLEBOT3_MODEL=${TB3_MODEL}
$ roslaunch open_manipulator_with_tb3_tools manipulation.launch use_platform:=true
```
* 以下是 rqt 插件顯示控制 OpenManipulator 範例
* 由 rosservice 訊息可得知機器人狀態
```
$ rosservice call /arm/moveit/get_joint_position "planning_group: 'arm'"
joint_position:
joint_name: [joint1, joint2, joint3, joint4]
position: [-0.003067961661145091, -0.42644667625427246, 1.3084856271743774, -0.8452234268188477]
max_accelerations_scaling_factor: 0.0
max_velocity_scaling_factor: 0.0
```
```
$ rosservice call /arm/moveit/get_kinematics_pose "planning_group: 'arm'
end_effector_name: ''"
header:
seq: 0
stamp:
secs: 1550714737
nsecs: 317547871
frame_id: "/base_footprint"
kinematics_pose:
pose:
position:
x: 0.0918695085861
y: -0.000263644738325
z: 0.218597669468
orientation:
x: 1.82347658316e-05
y: 0.023774433021
z: -0.000766773548775
w: 0.999717054001
max_accelerations_scaling_factor: 0.0
max_velocity_scaling_factor: 0.0
tolerance: 0.0
```
* 為了控制 OpenMANIPULATOR 的爪夾（range 範圍可從 -0.01 \~ 0.01），下面的service 指令可能會有所幫助。
```
$ rosservice call /om_with_tb3/gripper "planning_group: ''
joint_position:
joint_name:
- ''
position:
- 0.15
max_accelerations_scaling_factor: 0.0
max_velocity_scaling_factor: 0.0
path_time: 0.0"
```
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