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There is a solution. Create a class that has a MoveGroup attribute, initialized with the constructor. Moreover you can implement several service functions in that class which are acting on the same move_group attribute.

This is my post and answer related how to do it.

Here is my working example for a cyton gamma 1500 robot arm.

There is a solution. Create a class that has a MoveGroup attribute, initialized with the constructor. Moreover you can implement several service functions in that class which are acting on the same move_group attribute.

This is my post and answer related how to do it.

Here is my working example for a cyton gamma 1500 robot arm.

EDIT

If you really want to share objects through applications have a look at this (not really related to ROS but c++).