ROS Programming: Building Powerful Robots

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

We saw random motion planning in the preceding example. In this section, we will check how to command the robot end-effector to move to a custom goal position. The following example test_custom.cpp will do that job:

//Move It header files#include <moveit/move_group_interface/move_group.h>#include <moveit/planning_scene_interface/planning_scene_interface.h>#include <moveit_msgs/DisplayRobotState.h>#include <moveit_msgs/DisplayTrajectory.h>#include <moveit_msgs/AttachedCollisionObject.h>#include <moveit_msgs/CollisionObject.h>int main(int argc, char **argv){  ros::init(argc, argv, "test_custom_node");  ros::NodeHandle node_handle;  ros::AsyncSpinner spinner(1); spinner.start(); ...