In this exercise, we will be using MoveIt! in order to move the arm.
Locate Exercise Source File¶
Go to the main application source file located in
In the main program , locate the function call to
Go to the source file for that function located in the
Alternatively, in QTCreator, click on any part of the function and press “F2” to bring up that file.
Comment out the first line containing the
ROS_ERROR_STREAM( ...entry so that the function does not quit immediately.
Use the MoveGroupInterface::move() method in order to move the robot to a target.
The moveit_msgs::MoveItErrorCodes structure contains constants that you can use to check the result after calling the
Find the comment block that starts with
/* Fill Code:and complete as per described.
Replace every instance of
[ COMPLETE HERE ]accordingly.
Build Code and Run¶
cdinto your catkin workspace and run
Then run the application launch file:
roslaunch plan_and_run demo_run.launch