# Revision history [back]

Question 1: Obsolete

Question 2: These are not redundant. Pickup and Place are actions that need a ROS action interface (i.e. "action_topics"), move_group is a ROS node, but the name is also used for an action that accepts PlanningRequests. There is a Ticket to change the name of one of them here.

Question 3: That's not a question. ROS nodes are not restricted to loop-less communication graphs.

Question 4: Yes

Question 5: Well, it's a couple of C++ classes that are provided in the move_group node, but you could also use the classes in your own code (although you should probably to start with using the move_group node if you're new to MoveIt.

Question 6: Yes. The MoveGroupInterface C++ class can be used to construct them move easily and send them via the move method.

Question 1: Obsolete

Question 2: These are not redundant. Pickup and Place are actions that need a ROS action interface (i.e. "action_topics"), move_group is a ROS node, but the name is also used for an action that accepts PlanningRequests. There is a Ticket to change the name of one of them here.

Question 3: That's not a question. ROS nodes are not restricted to loop-less communication graphs.

Question 4: Yes

Question 5: Well, it's a couple of C++ classes that are provided in the move_group node, but you could also use the classes in your own code (although you should probably to start with using the move_group node if you're new to MoveIt.

Question 6: Yes. The MoveGroupInterface C++ class can be used to construct them move easily and send them via the move method.and plan methods.

Question 1: Obsolete

Question 2: These are not redundant. Pickup and Place are actions that need a ROS action interface (i.e. "action_topics"), move_group is a ROS node, but the name is also used for an action that accepts PlanningRequests. There is a Ticket to change the name of one of them here.

Question 3: That's not a question. ROS nodes are not restricted to loop-less communication graphs.

Question 4: Yes

Question 5: Well, it's a couple of C++ classes that are provided in the move_group node, but you could also use the classes in your own code (although you should probably to start with using the move_group node if you're new to MoveIt.

Question 6: Yes. The MoveGroupInterface C++ class can be used to construct them move more easily and send them via the move and plan methods.