MoveIt! Sample

code:python

# get reference frame (frame whare you are planning)

move_group = moveit_commander.MoveGroupCommander(group_name)

# get end effector link

move_group.get_end_effector_link()

# plan

move_group.set_pose_target(pose_goal)

Visualize by Rviz

MotionPlanning

Scene Geoemetry

Scene Robot: Virtual Robot sync to Real Robot

Planning Request: Marker used when request is sent from rviz

Planning Metrics

Planned Path: published from move_group

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