Move Group Interface Tutorial about moveit_tutorials

[Froz3nArcher]

@mcevoyandy The tutorial appears to be misleading regarding the use of move_group.plan() followed
by move_group.move(). The move_group.move() function does not appear to use the Plan created by move_group.plan(). The documentation indicates that move_group.execute() uses a specified plan, but move_group.move() "plans and executes" the move. This could explain the difference you see between the plan and the move.

In addition, there does not appear to be a execute() or move() function that could use the RobotTrajectory calculated in computeCartesianPath(). Is the recommended usage to store the returned RobotTrajectory into a Plan and then call move_group.execute()?

[v4hn]

@mcevoyandy It is not really clear to me what this issue is about.
"How do I use MoveIt to plan paths" is a bit too broad for a single Issue.

You can plan multiple trajectories, set their corresponding start state explicitly before planning and put the resulting plans into one Plan as @Froz3nArcher suggested and execute it.
You will have to ensure correct time parameterization yourself in this case.
You could also store the separate plans and execute them one after the other.

For cartesian trajectories you have to create the Plan yourself at the moment.
Feel free to add a pull request to the moveit repository that adds a method that returns a Plan though.

[mcevoyandy]

I think @Froz3nArcher has cleared things up for me. From the tutorial it wasn't clear what `plan` was actually doing and `execute` wasn't mentioned at all. It was also unclear from the tutorial that you have to create the plan yourself for Cartesian trajectories. I guess the issue is adding language to the tutorial to clarify these issues.

[sheikspeare]

davetcoleman@3b53c75

[davetcoleman]

Thanks @sheikspeare , closing this old issue.