motion_planning_pipeline_tutorial.cpp

motion_planning_pipeline_tutorial.cpp 

#include <pluginlib/class_loader.h>
#include <ros/ros.h>

// MoveIt!
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/planning_pipeline/planning_pipeline.h>
#include <moveit/planning_interface/planning_interface.h>
#include <moveit/kinematic_constraints/utils.h>
#include <moveit_msgs/DisplayTrajectory.h>
#include <moveit_msgs/PlanningScene.h>
#include <moveit_visual_tools/moveit_visual_tools.h>

int main(int argc, char** argv)
{
  ros::init(argc, argv, "move_group_tutorial");
  ros::AsyncSpinner spinner(1);
  spinner.start();
  ros::NodeHandle node_handle("~");

  // BEGIN_TUTO