moveitcpp vs movegroup
This is out of curiosity. When is important to use moveitcpp instead of movegroup(advantages and inconvenience). If the goal was a commercial application, would moveitcpp be better and why.
I have already gotten some response but curios to hear more from other people that have used both.
@AndyZe One advantage is decreased latency.
Some disadvantages are:
Can only be used with C++ Less tutorial documentation. I'd be interested to hear more pros/cons, too!
Well, you have reminded me of another advantage of moveit_cpp:
You can do things like combine trajectories more easily, or run your own post-processign with moveit_cpp. That's not really an option with MGI.
@ v4hn If you want detailed control over the C++ datastructures that do the actual planning, you need MoveItCpp instead or have to do the whole class setup that MoveItCpp does for you by yourself. That's pretty much the whole story.
Edit: Thanks for your answers so far
There was quite some discussion already on ros-planning/moveit#2581.
To avoid duplicating all of that, please summarise it in your question.