Hello All,
I have a silly question. Sorry.
In the moveit tutorials, they talk about two types of planning.
The first one by calling move_group.plan()
The other planning is called Cartesian path, done by calling move_group.computeCartesianPath()
Can someone please explain the difference between the two and went to use each?
Thank You 
Hi @nihalabdu1,
move_group.plan() tries to find a possible trajectory to reach the specified pose.
move_group.computeCartesianPath() creates a trajectory, connecting your waypoints in cartesian space with straight lines.
This is a very good resource for the movegroup api
http://docs.ros.org/jade/api/moveit_commander/html/classmoveit__commander_1_1move__group_1_1MoveGroupCommander.html