move_group_interface_tutorial.cpp

move_group_interface_tutorial.cpp

#include <moveit/move_group_interface/move_group_interface.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>

#include <moveit_visual_tools/moveit_visual_tools.h>

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

  // BEGIN_TUTORIAL
  //
  // Setup
  // ^^^^^
  //
  // MoveIt! operates on sets of joints called "planning groups" and stores the