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tutorials:intermediate:moveit [2016/03/07 19:52] – [Initializing cram_moveit] gkazhoyatutorials:intermediate:moveit [2016/03/07 19:55] – [Accessing the robot state] gkazhoya
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 </code> </code>
  
-Notice that it's a list of lists (joint-name joint-values), which you could search for the joints that interest you. Or, better, you could just ask MoveIt! for the joints you're interested in:+Notice that it's a list of lists ''(joint-name joint-values)'', which you could search for the joints that interest you. Or, better, you could just ask MoveIt! for the joints you're interested in:
  
 <code lisp> <code lisp>
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 </code> </code>
  
-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 ''joint-states'' to look at some joint on the arm and see that it changes.
  
-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 ''get-planning-scene-info''. To get a robot state ROS message (as opposed to a list of name-value pairs), use the following:
  
 <code lisp> <code lisp>