How can I use motion planning pipeline for a real robot?
Hi,all I'm a freshman in ROS. I used Move Group to plan trajectories for my abb robot. LIke:
moveit::planning_interface::MoveGroupInterface::Plan my_plan; move_group.plan(my_plan) ;
But my robot need a shorter path. So I want to use motion planning pipeline. The tutorials of motion planning pipeline is used with rviz.
planning_pipeline->generatePlan(planning_scene, req, res);
How can I use it for my robot ? I tried :
plan.trajectory = res.trajectory; plan.start_state_=res.start_state
It can't find a plan. Can anyone help me? Thanks advance.