MoveIt! - MoveGroupInterface init in C++ class

asked 2020-01-26 15:27:08 -0600

anok gravatar image

Hello friends,

im doing an object following stuff. But im stuck with MoveIt programming question. The all in your own MoveIt node starts with making an move_group object like

moveit::planning_interface::MoveGroupInterface move_group("robot");

I need this object to be passed to my own class ArmTrack::ArmTrack(node_handle, move_group); because im doing some calculating and executing some movements immediately (thus i need to share this move_group object with all class members). Initializing move_group every time when subscriber callback receives data is kind of time consuming for me.

And also i have tried to initialize moveit::planning_interface::MoveGroupInterface move_group("robot"); inside the class constructor via the boost::scoped_ptr i think it compiles then when node is run it crashes immediately;

BUT somehow i tried i think everything and im getting very sad that is not possible.

Using ROS Melodic, MoveIt!, Gazebo.

Would appreciate any tips-tricks to find solution. Thank you.

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Comments

Hello, Do you create the MGI object inside your function ? I think you should call a pointer if you want to pass a MGI object into class, same thing for NodeHandle. Could you please try to initialize a MGI object and a NodeHandle in your main, and define your class constructor like this : ArmTrack::ArmTrack(ros::nodeHandle& node_handle, moveit::planning_interface::MoveGroupInterface& move_group); I had a similar issue and it worked for me. When you call a variable/object in a function or a class, it creates a copy of this variable. Using a pointer allows your class to modify directly your move_group object and your node_handle, without creating a copy.

edote gravatar image edote  ( 2020-05-25 02:33:42 -0600 )edit