Simple movement

CMakeLists.txt

@@ -9,8 +9,8 @@ project(intro_package)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
     roscpp
-  rospy
     std_msgs
+    moveit_ros_planning_interface
 )
 
 ## System dependencies are found with CMake's conventions
@@ -133,22 +133,20 @@ include_directories(
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-add_executable(${PROJECT_NAME}_intro_package src/intro_package.cpp)
+add_executable(IntroPackage src/IntroPackage.cpp)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
 ## target back to the shorter version for ease of user use
 ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-set_target_properties(${PROJECT_NAME}_intro_package PROPERTIES OUTPUT_NAME intro_package PREFIX "")
+# set_target_properties(${PROJECT_NAME}_intro_package PROPERTIES OUTPUT_NAME intro_package PREFIX "")
 
 ## Add cmake target dependencies of the executable
 ## same as for the library above
 # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(${PROJECT_NAME}_intro_package
-    ${catkin_LIBRARIES}
-)
+target_link_libraries(IntroPackage ${catkin_LIBRARIES})
 
 #############
 ## Install ##

launch/intro_package.launch

+<launch>
+
+    <include file="$(find panda_simulation)/launch/simulation.launch"/>
+
+    <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" />
+
+    <node pkg="intro_package" type="IntroPackage" name="IntroPackageInstance" respawn="false" output="screen"/>
+
+</launch>
\ No newline at end of file

package.xml

 <?xml version="1.0"?>
 <package format="2">
   <name>intro_package</name>
-  <version>0.0.0</version>
+  <version>0.0.1</version>
   <description>The intro_package package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="tidenhub@todo.todo">tidenhub</maintainer>
+  <maintainer email="david.tiede@mailbox.tu-dresden.de">David Tiede</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->
@@ -49,16 +49,9 @@
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_export_depend>roscpp</build_export_depend>
-  <build_export_depend>rospy</build_export_depend>
-  <build_export_depend>std_msgs</build_export_depend>
-  <exec_depend>roscpp</exec_depend>
-  <exec_depend>rospy</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
 
+  <depend>roscpp</depend>
+  <depend>std_msgs</depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

src/IntroPackage.cpp

+#include <moveit/move_group_interface/move_group_interface.h>
+
+
+int main(int argc, char** argv)
+{
+    ros::init(argc, argv, "intro_package");
+    ros::NodeHandle node_handle;
+    ros::AsyncSpinner spinner(1);
+    spinner.start();
+
+    static const std::string PLANNING_GROUP = "panda_arm";
+    moveit::planning_interface::MoveGroupInterface group(PLANNING_GROUP);
+
+    ros::Duration(3.0).sleep();
+
+    group.setStartStateToCurrentState();
+    group.setPlanningTime(5.0);
+
+    std::vector<geometry_msgs::Pose> waypoints;
+
+    geometry_msgs::Pose start_pose = group.getCurrentPose().pose;
+    geometry_msgs::Pose target_pose_1 = group.getCurrentPose().pose;
+
+    target_pose_1.position.z = 0.6;
+    target_pose_1.position.y = -0.6;
+    target_pose_1.position.x = 0;
+    waypoints.push_back(target_pose_1);
+
+    moveit::planning_interface::MoveGroupInterface::Plan plan;
+    moveit_msgs::RobotTrajectory trajectory_msg;
+    group.computeCartesianPath(waypoints, 0.01, 0.0, trajectory_msg, true);
+    plan.trajectory_ = trajectory_msg;
+
+    group.execute(plan);
+    ROS_INFO("FINISHED");
+
+    ros::shutdown();
+    return 0;
+}

src/intro_package.cpp

-#include <ros/ros.h>
-
-int main(int argc, char** argv)
-{
-    ros::init(argc, argv, "intro_package_node");
-    ros::NodeHandle node_handle("intro_package_ns");
-
-    ROS_INFO("HELLO WORLD");
-}
-