– MoveIt!, which is a motion planning.
– Stage, very useful to 2D navigation.
– Gazebo, tool to test algorithms and design robots.
– Rviz, tool to visualize the robots.
For this project Gazebo has been selected with its recommended version for Indigo, Gazebo 2.X. If you are not using Indigo, take a look to this web to know which Gazebo version you need.
The model and its home position are shown in the following figures.