In book, Master ROS for Robotics Programming. I notice this **header file** below
//MoveIt! header file
#include
int main(int argc, char **argv)
{
ros::init(argc, argv, "test_random_node",
ros::init_options::AnonymousName);
// start a ROS spinning thread
ros::AsyncSpinner spinner(1);
spinner.start();
// this connects to a running instance of the move_group node
// Here the Planning group is "arm"
move_group_interface::MoveGroup group("arm");
// specify that our target will be a random one
group.setRandomTarget();
// plan the motion and then move the group to the sampled target
group.move();
ros::waitForShutdown();
}
I tried to find the document for this header, but just found [**planning_interface namespace**](http://docs.ros.org/kinetic/api/moveit_ros_planning_interface/html/classmoveit_1_1planning__interface_1_1MoveGroup.html) for **move_group.h file** , instead of **move_group_interface namespace**.
**QUESTION1:**
Why?
**QUESTION2:**
Or, maybe actually, it is not a question for ROS but for C++ instead?
**EDIT1**
Document of [MoveGroupInterface](http://docs.ros.org/kinetic/api/moveit_ros_planning_interface/html/classmoveit_1_1planning__interface_1_1MoveGroupInterface.html), where it shows the header:
#include
**QUESTION3:**
If I want to use **MoveGroupInterface class**, how should I write the header **correctly in my own code**?
↧