March 2018
Intermediate to advanced
1396 pages
42h 14m
English
book
ROS Programming: Building Powerful Robots
by Anil Mahtani, Luis Sanchez, Enrique Fernandez, Aaron Martinez, Lentin Joseph
Content preview from ROS Programming: Building Powerful Robots
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Motion planning using the move_group C++ interface
In this section, we will see how to program the robot motion using the move_group C++ APIs. Motion planning using RViz can also be done programmatically through the move_group C++ APIs.
The first step to start working with C++ APIs is to create another ROS package that has the MoveIt! packages as dependencies. You can get an existing package seven_dof_arm_test from chapter_10_codes/. We can create this same package using the following command:
$ catkin_create_pkg seven_dof_arm_test catkin cmake_modules interactive_markers moveit_core moveit_ros_perception moveit_ros_planning_interface pluginlib roscpp std_msgs