1.编写c++API代码
#include<moveit/move_group_interface/move_group_interface.h>
#include <moveit/planning_scene_interface/planning_scene_interface.h>
#include <moveit_msgs/DisplayRobotState.h>
#include <moveit_msgs/DisplayTrajectory.h>
#include <moveit_msgs/AttachedCollisionObject.h>
#include <moveit_msgs/CollisionObject.h>
#include <vector>
int main(int argc, char **argv)
{
ros::init(argc, argv, "ur_test01");
ros::AsyncSpinner spinner(1);
spinner.start();
moveit::planning_interface::MoveGroupInterface arm("manipulator");
arm.setGoalJointTolerance(0.001);
arm.setMaxAccelerationScalingFactor(0.2);
arm.setMaxVelocityScalingFactor(0.2);
arm