text: #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 <moveit_visual_tools/moveit_visual_tools.h>
  
  int main(int argc, char** argv)
  {
    ros::init(argc, argv, "move_group_interface_tutorial_cpp_test");
    ros::NodeHandle node_handle;
    ros::AsyncSpinner spinner(1);
    spinner.start();
    
    static const std::string PLANNING_GROUP = "arm_with_torso";
    moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP);
    moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
  
    return 0;
  }