moveit HOW TO COMPILE

How to compile a ROS1 package using MoveIt

first of all, add these packages to the find_package macro:

find_package(catkin REQUIRED COMPONENTS
  roscpp
  ...
  moveit_msgs
  moveit_core
  moveit_ros_perception
  moveit_ros_planning
  moveit_ros_planning_interface
  )

that's all!

• to compile MoveIt-based messages, just add the dependency moveit_msgs to the message_generation() macro.
• no headers are needed for compiling MoveIt C++ nodes.