Hi,
I am trying the first lot of tutorials from the moveit website and I am having trouble with the move group interface.
Here is my cpp file:
#include
#include
#include
#include "std_msgs/String.h"
#include
moveit::planning_interface::MoveGroup group("arm_t");
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
int main(int argc, char **argv)
{
ros::NodeHandle node;
ros::Publisher display_publisher = node.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", group.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);
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);
return 0;
}
When I try to catkin_make, It come up with the following error:
CMakeFiles/moveit_trial.dir/src/nod_plan.cpp.o: In function `main':
nod_plan.cpp:(.text+0x197): undefined reference to `moveit::planning_interface::MoveGroup::getPlanningFrame() const'
nod_plan.cpp:(.text+0x2a1): undefined reference to `moveit::planning_interface::MoveGroup::getEndEffectorLink() const'
nod_plan.cpp:(.text+0x375): undefined reference to `moveit::planning_interface::MoveGroup::setPoseTarget(geometry_msgs::Pose_> const&, std::basic_string, std::allocator> const&)'
nod_plan.cpp:(.text+0x3b7): undefined reference to `moveit::planning_interface::MoveGroup::plan(moveit::planning_interface::MoveGroup::Plan&)'
CMakeFiles/moveit_trial.dir/src/nod_plan.cpp.o: In function `__static_initialization_and_destruction_0(int, int)':
nod_plan.cpp:(.text+0x7f7): undefined reference to `moveit::planning_interface::MoveGroup::MoveGroup(std::basic_string, std::allocator> const&, boost::shared_ptr const&, ros::Duration const&)'
nod_plan.cpp:(.text+0x82c): undefined reference to `moveit::planning_interface::MoveGroup::~MoveGroup()'
nod_plan.cpp:(.text+0x848): undefined reference to `moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterface()'
nod_plan.cpp:(.text+0x84d): undefined reference to `moveit::planning_interface::PlanningSceneInterface::~PlanningSceneInterface()'
collect2: ld returned 1 exit status
make[2]: *** [/home/thibault/reem-sim_ws/devel/lib/moveit_trial/moveit_trial] Error 1
make[1]: *** [moveit_trial/CMakeFiles/moveit_trial.dir/all] Error 2
I have tried modifying my CmakeLists and package.xml but it still comes up with the same error. Can anyone help with this issue please.
Thanks.
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