dobot moveit 包_DOBOT magician魔术师在ROS下使用moveit编写代码控制（笛卡尔空间控制气泵抓取功能）...

int main(int argc, char **argv)

{

ros::init(argc, argv, "moveit_magician_pick_demo");

ros::AsyncSpinner spinner(1);

spinner.start();

ros::NodeHandle n;

ros::ServiceClient client;

client = n.serviceClient("/DobotServer/SetEndEffectorSuctionCup");

//设置气泵吸取suck1

magician_hardware::SetEndEffectorSuctionCup suck1;

suck1.request.enableCtrl = 1;

suck1.request.suck =1;

suck1.request.isQueued = true;

//设置气泵关闭suck2

magician_hardware::SetEndEffectorSuctionCup suck2;

suck2.request.enableCtrl = 0;

suck2.request.suck =0;

suck2.request.isQueued = true;

moveit::planning_interface::MoveGroupInterface arm("magician_arm");

//获取终端link的名称

std::string end_effector_link = arm.getEndEffectorLink();

//设置目标位置所使用的参考坐标系

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