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The moveit_ros/planning_interface/move_group_interface module is usually used to generate MotionPlanRequests for simple pose goals.
If you look at its implementation here, you will see this simply creates Position and Orientation constraints out of the requested pose. It basically creates a small target volume (.1mm^3) out of the position to create a position constraint and adds axis tolerances of .001rad and the provided orientation as an orientation constraint.
| | 2 | No.2 Revision |
The moveit_ros/planning_interface/move_group_interface module is usually used to generate MotionPlanRequests for simple pose goals.
If you look at its implementation here, you will see this simply creates Position and Orientation goal constraints out of the requested pose. It basically creates a small target volume (.1mm^3) out of the position to create a position constraint and adds axis tolerances of .001rad and the provided orientation as an orientation constraint.
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