Motion planning using the move_group C++ interface

In Chapter 4, Using the ROS MoveIt! and Navigation Stack, we discussed about how to interact with a robot arm and how to plan its path using MoveIt! RViz motion planning plugin. 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

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

The first example that we are going to see is random motion planning using MoveIt! C++ APIs. You will get...