ROS Programming: Building Powerful Robots

Planning a single goal

To plan a single goal, we literally only need to provide MoveIt! with the goal itself. A goal is expressed by a Pose message from the geometry_msgs package. We need to specify both the orientation and the pose. For this particular example, this goal was obtained by performing manual planning and checking the state of the arm. In a real situation, goals will probably be set depending on the purpose of the robotic arm:

geometry_msgs::Pose goal; 
goal.orientation.x = -0.000764819; 
goal.orientation.y = 0.0366097; 
goal.orientation.z = 0.00918912; 
goal.orientation.w = 0.999287; 
goal.position.x = 0.775884; 
goal.position.y = 0.43172; 
goal.position.z = 2.71809; 

For this particular goal, we can also set the tolerance. We are ...