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Move Group Interface Tutorial
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This is the old Indigo tutorials (code can be found atmoveit_tutorials repositoryin
doc folder. Use indigo-devel branch). The latest can be foundhere for Kinetic.
Move Group Interface Tutorial
In MoveIt!, the primary user interface is through theMoveGroupclass. It provides
easy to use functionality for most operations that a user may want to carry out,
specifically setting joint or pose goals, creating motion plans, moving the robot,
adding objects into the environment and attaching/detaching objects from the robot.
Setup
TheMoveGroupclass can be easily setup using just the name of the group you would
like to control and plan for.
moveit::planning_interface::MoveGroup group("right_arm");
We will use thePlanningSceneInterfaceclass to deal directly with the world.
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
(Optional) Create a publisher for visualizing plans in Rviz.
ros::Publisher display_publisher = node_handle.advertise<moveit_msgs::DisplayTrajectory>("/move_group/
display_planned_path", 1, true);
moveit_msgs::DisplayTrajectory display_trajectory;
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