In this section, we will see how to program the robot motion using the move_group C++ APIs. Motion planning using RViz can also be done programmatically through the move_group C++ APIs.

The first step to start working with C++ APIs is to create another ROS package that has the MoveIt! packages as dependencies. You can get an existing package seven_dof_arm_test from chapter_10_codes/. We can create this same package using the following command:

$ catkin_create_pkg seven_dof_arm_test catkin cmake_modules
 interactive_markers moveit_core moveit_ros_perception
 moveit_ros_planning_interface pluginlib roscpp std_msgs