There are several tutorials on MoveIt website on C++ API like [this one](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial.html). I've downloaded them, built using `catkin build` and now can run those examples using `roslaunch`. But how exactly do I compile and run my own code? If I copy one of the example cpp-files to `${CATKIN_WS}/moveit_mycode/`, say `move_group_interface_tutorial.cpp`, edit a couple of lines, then what do I do next?
My take is that I shouldn't use `gcc` straightforwardly, but rather `catkin build`, which means I need a `CMakelists.txt` or something similar. Also, should I write a `.launch` file? I realize this is a very basic question, but I couldn't figure it out. I couldn't find any info on the topic, too, neither on MoveIt website nor anywhere else. I'd appreciate any help!
I'm on ROS Kinetic, Ubuntu 16.04.
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