MoveGroup Node

Overview
The move_group node is the main process where all the planning computation takes place when you are running MoveIt!.

It consists of a set of capabilities that are loaded as plugins. Each capability plugin can expose ROS topics, services or actions. Which capability plugins are loaded can be specified the ROS parameter ~capabilities. If you want to quickly call functionality provided by this node, please see the move_group interface.

Capability Plugins
There are a few capabilities implemented by default:


 * The move_group action

This is the action interface for motion planning and shares the name with the node it is part of, since it is the basic functionality the node offers. This is the simplest means of interaction and also optionally includes execution.

This capability exposes a service that can compute motion plans (same as the action above) but does not offer execution capabilities.
 * The plan_kinematic_path service


 * etc

Running move_group
The move_group node assumes the robot description (URDF) exists on the parameter server under the name robot_description (which can be remapped). A launch file is automatically generated by the setup assistant in the moveit configuration package, so you can simply run the node using

You may want to edit this launch file to change the configuration of the node. Typical configration options include:


 * the ~allow_trajectory_execution boolean parameter. If this is set to false move_group will not send commands to controllers
 * the ~capabilities string paramater. This includes a list of plugin names (separated by space) to be loaded as capabilities.