ROS Programming: Building Powerful Robots

Motion planning a random path using MoveIt! C++ APIs

The first example that we are going to see is random motion planning using MoveIt! C++ APIs. You will get the code named test_random.cpp from the src folder. The code and the description of each line follows. When we execute this node, it will plan a random path and execute it:

//MoveIt! header file#include <moveit/move_group_interface/move_group.h>int main(int argc, char **argv){  ros::init(argc, argv, "test_random_node",   ros::init_options::AnonymousName);  // start a ROS spinning thread  ros::AsyncSpinner spinner(1);  spinner.start();  // this connects to a running instance of the move_group node  // Here the Planning group is "arm"  move_group_interface::MoveGroup group("arm"); // specify ...