Hello everyone. I'm quite new to ROS, doing a practicum project right now and have been pretty stumped with this for a few days. I have a TIAGo Robot, with a 6DOF arm with whom I want to be able to move on a straight line. The "straight" part is important as we'll be having a pressure sensor on the fingertip with which we want to do "feeling" of surfaces, so we need to be able to move it on a straight line (maintaining orientation of it) on the XY plane.
So I've been basically doing some frankencode because while I'm familiar with C++, I'm not with ROS and MoveIt!; and been piecing something together from a basic code in the [TIAGo tutorials](http://wiki.ros.org/Robots/TIAGo/Tutorials/MoveIt/Planning_cartesian_space) that moves the actuator to a cartesian point and orientation (but not necessarily in a straight line) and the [moveit tutorial](http://docs.ros.org/indigo/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial.html#cartesian-paths) that deals with Cartesian path. Current code:
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/** \author Jordi Pages. */
// ROS headers
#include
#include "shape_msgs/SolidPrimitive.h"
#include "moveit_msgs/BoundingVolume.h"
// MoveIt! headers
#include
//#include
// Std C++ headers
#include
#include
#include