How do you generate a motion plan from moveit_msgs::MotionPlanRequest and moveit_msgs::MotionPlanResponse?
I am trying to use the Pilz Industrial Motion Planner in a C++ node and the tutorials claim that it uses moveit_msgs::MotionPlanRequest
(and Response) but I haven't found a way to actually generate the plan to populate the response. The Motion Planning Pipeline tutorial uses planning_interface::MotionPlanRequest
(and Response) and generates the plans using planning_pipeline::PlanningPipeline (name_of_pipeline)
and name_of_pipeline->generatePlan
. Is there something similar I could use for the moveit_msgs::MotionPlanRequest
?
I tried using the planning pipeline method with Pilz and it worked for a single trajectory, but I don't think there is a way I can use moveit_msgs::MotionSequenceRequest
this way which is ultimately the tool I want to use.