Hello everyone,
I am using move_it package as a motion planner for quadrotor package. I am trying to set setPoseTarget using the C++ move group interface. Below is the code that I wrote ( by referring to the move it tutorial on their website).
void Quad::moveit_waypoints(double s_x,double s_y,double s_z,double g_x,double g_y,double g_z){
moveit::planning_interface::MoveGroup group("virtt");
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
//ros::Publisher display_publisher = node_handle.advertise("/move_group/display_planned_path", 1, true);
//moveit_msgs::DisplayTrajectory display_trajectory;
ROS_INFO("Reference frame: %s", group.getPlanningFrame().c_str());
//ROS_INFO("Reference frame: %s", base.getEndEffectorLink().c_str());
geometry_msgs::Pose target_pose1;
target_pose1.orientation.w = 1.0;
target_pose1.position.x = 0.28;
target_pose1.position.y = -0.7;
target_pose1.position.z = 1.0;
group.setPoseTarget(target_pose1);
group.setRandomTarget();
moveit::planning_interface::MoveGroup::Plan my_plan;
bool success = group.plan(my_plan);
ROS_INFO("Visualizing plan 1 (pose goal) %s",success?"":"FAILED");
// Sleep to give Rviz time to visualize the plan.
sleep(5.0);
}
However when I compile I get the following error:
In function `Quad::moveit_waypoints(double, double, double, double, double, double)':
quadrotor.cpp:(.text+0x3147): undefined reference to `moveit::planning_interface::MoveGroup::MoveGroup(std::string const&, boost::shared_ptr const&, ros::Duration const&)'
quadrotor.cpp:(.text+0x3192): undefined reference to `moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterface()'
quadrotor.cpp:(.text+0x3271): undefined reference to `moveit::planning_interface::MoveGroup::getPlanningFrame() const'
quadrotor.cpp:(.text+0x3315): undefined reference to `moveit::planning_interface::MoveGroup::setRandomTarget()'
quadrotor.cpp:(.text+0x333d): undefined reference to `moveit::planning_interface::MoveGroup::plan(moveit::planning_interface::MoveGroup::Plan&)'
quadrotor.cpp:(.text+0x349f): undefined reference to `moveit::planning_interface::PlanningSceneInterface::~PlanningSceneInterface()'
quadrotor.cpp:(.text+0x34ae): undefined reference to `moveit::planning_interface::MoveGroup::~MoveGroup()'
quadrotor.cpp:(.text+0x34d9): undefined reference to `moveit::planning_interface::MoveGroup::~MoveGroup()'
quadrotor.cpp:(.text+0x3510): undefined reference to `moveit::planning_interface::MoveGroup::~MoveGroup()'
quadrotor.cpp:(.text+0x35a5): undefined reference to `moveit::planning_interface::PlanningSceneInterface::~PlanningSceneInterface()'
quadrotor.cpp:(.text+0x35b9): undefined reference to `moveit::planning_interface::MoveGroup::~MoveGroup()'
collect2: error: ld returned 1 exit status
Could anyone shed some light on this? Thanks in advance.
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