motion_planning_pipeline_tutorial.cpp
#include <pluginlib/class_loader.h>
#include <ros/ros.h>
// MoveIt!
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/planning_pipeline/planning_pipeline.h>
#include <moveit/planning_interface/planning_interface.h>
#include <moveit/kinematic_constraints/utils.h>
#include <moveit_msgs/DisplayTrajectory.h>
#include <moveit_msgs/PlanningScene.h>
#include <moveit_visual_tools/moveit_visual_tools.h>
int main(int argc, char** argv)
{
ros::init(argc, argv, "move_group_tutorial");
ros::AsyncSpinner spinner(1);
spinner.start();
ros::NodeHandle node_handle("~");
