We saw random motion planning in the preceding example. In this section, we will check how to command the robot end effector to move to a custom goal position. The following example, test_custom.cpp, will do that job:
#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit/planning_scene_interface/planning_scene_interface.h>
#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit_msgs/DisplayRobotState.h>
#include <moveit_msgs/DisplayTrajectory.h>
#include <moveit_msgs/AttachedCollisionObject.h>
#include <moveit_msgs/CollisionObject.h>
int main(int argc, char **argv)
{ //ROS initialization ros::init(argc, argv, "move_group_interface_tutorial"); ...
