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Movegroup gets information from the planning Scene. In another SDK terminal session, Launch the rviz MoveIt plugin, ex Without Electric Grippers With Electric Gripper (s).

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This API is new in ROS2. Getting Started If you havent already done so, make sure youve completed the steps in Getting Started.

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RobotCommander() Instantiate a MoveGroupCommander object.

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Instructions for the next direction the robot is to move are laid down in a grid.

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It provides easy to use functionality for most operations that a user may want to carry out, specifically setting joint or pose goals, creating motion plans, moving the robot, adding objects into the environment and attachingdetaching objects from the robot.
As with the ROS 1 version, using Servo does not preclude you from using MoveIts planning and execution framework, and using both alongside each other remains a powerful tool for controlling your manipulator.
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