Differences
This shows you the differences between two versions of the page.
Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
tutorials:intermediate:moveit [2016/03/07 19:52] – [Initializing cram_moveit] gkazhoya | tutorials:intermediate:moveit [2016/07/27 14:36] (current) – [Initializing cram_moveit] mpomarlan | ||
---|---|---|---|
Line 42: | Line 42: | ||
<code lisp> | <code lisp> | ||
- | (roslisp:start-ros-node NODE-NAME) | + | (roslisp-utilities:startup-ros) |
(cram-moveit: | (cram-moveit: | ||
</ | </ | ||
Line 84: | Line 84: | ||
</ | </ | ||
- | Notice that it's a list of lists (joint-name joint-values), | + | Notice that it's a list of lists '' |
<code lisp> | <code lisp> | ||
Line 104: | Line 104: | ||
</ | </ | ||
- | Play a bit with the robot in RViz: move one arm (remember to click Plan and Execute to make sure the movement actually happens!), then use joint-states to look at some joint on the arm and see that it changes. | + | Play a bit with the robot in RViz: move one arm (remember to click Plan and Execute to make sure the movement actually happens!), then use '' |
- | Another function you can use to get the current robot state is get-planning-scene-info. To get a robot state ROS message (as opposed to a list of name-value pairs), use the following: | + | Another function you can use to get the current robot state is '' |
<code lisp> | <code lisp> | ||
Line 122: | Line 122: | ||
and look in the RViz window for a reaction. After some planning time, usually a fraction of a second, the robot' | and look in the RViz window for a reaction. After some planning time, usually a fraction of a second, the robot' | ||
- | The parameters to move-link-pose are, in order, a link name, a planning group, and a pose-stamped object representing the pose to move to. The pose is something you will typically define yourself in your programs; either hard-coded (as in this tutorial) or through some generation process like [[tutorials: | + | The parameters to '' |
- | Link names and planning groups are found in the *.srdf file for the robot you're working with. For this tutorial, this is the default *.srdf file in the pr2_moveit_config package. You can run MoveIt! with other robots as well ([[http:// | + | Link names and planning groups are found in the '' |
Sometimes you just want to know a trajectory between a robot' | Sometimes you just want to know a trajectory between a robot' | ||
Line 130: | Line 130: | ||
<code lisp> | <code lisp> | ||
(multiple-value-bind (start-robot-state-p planned-trajectory-p) | (multiple-value-bind (start-robot-state-p planned-trajectory-p) | ||
- | (plan-link-movement " | + | |
- | | + | (setf tuti: |
- | | + | (setf tuti: |
</ | </ | ||
Line 163: | Line 163: | ||
1.5 | 1.5 | ||
t | t | ||
- | (roslisp: | + | |
</ | </ | ||