Pick and place

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Hello,

I suppose this is a common question, but I cannot find n answer which works for me. Currently I have a 7-DOF robot, for which IK can be computed. I am doing pick actions through C++ code using MoveGroup function pick().

I noticed there is the possibility to pick-up objects with rostopic /pickup/goal. The problem is I cannot find any example of how to do that in C++. Please, can someone give me some indications about that?

Thank you very much