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The MoveGroupInterface
class is a convenience wrapper for a lot of the ROS interfaces exposed by the move_group
node, including GetMotionPlan
.
It builds and calls these services for you, so that you don't have to fill in all the parameters yourself.
If you feel more comfortable using the bare service, you can use them too.
Considering readability of the resulting source code MoveGroupInterface
is usually better in my experience.