How to implement a MoveGroupCapability
Hi,
I would like to know how to implement a MoveGroupCapability. There is some documentation available here. As I understand by implementing MoveGroupCapability, we gain access to the move group context. Basically, we need to implement the move_group_capability.h interface. How do we use this in our nodes. Is there some example, that illustrates how to implement and use a capability within a user node.
Is there some version specific limitation to the use of this feature. I am using ros-melodic and ubuntu 18.04.
thanks,
Zahid
Hi @zahid990170 interesting question. I found this example, not sure if you have seen it: https://ros-planning.github.io/moveit...
with the following implementation: https://github.com/PilzDE/pilz_indust...
It happens to be implemented for Melodic as well. Hope it helps. Couldn't find much info, so if it's helpful let me know and we can draft an answer for others to benefit.