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tutorials:intermediate:moveit [2016/03/07 19:52] – [Initializing cram_moveit] gkazhoya | tutorials:intermediate:moveit [2016/03/07 19:55] – [Accessing the robot state] gkazhoya | ||
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- | Notice that it's a list of lists (joint-name joint-values), | + | Notice that it's a list of lists '' |
<code lisp> | <code lisp> | ||
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- | 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> |