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I would like to pass an object created with moveit::planning_interface::MoveGroupInterface class to a callback function from a ros::Subscriber in cpp. Any ideas on how this can be done?

Originally posted by nazir-ust on ROS Answers with karma: 3 on 2018-03-19

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See #q63991 and #q232204.

Originally posted by gvdhoorn with karma: 86574 on 2018-03-20

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