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tutorials:intermediate:moveit [2016/03/07 19:52] – [Initializing cram_moveit] gkazhoyatutorials:intermediate:moveit [2016/07/27 14:36] (current) – [Initializing cram_moveit] mpomarlan
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 <code lisp> <code lisp>
-  (roslisp:start-ros-node NODE-NAME)+  (roslisp-utilities:startup-ros)
   (cram-moveit:init-moveit-bridge)   (cram-moveit:init-moveit-bridge)
 </code> </code>
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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>
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 and look in the RViz window for a reaction. After some planning time, usually a fraction of a second, the robot's right wrist will move to the requested location. and look in the RViz window for a reaction. After some planning time, usually a fraction of a second, the robot's right wrist will move to the requested location.
  
-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:beginner:location_designators|location designator resolution]].+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:beginner:location_designators|location designator resolution]].
  
-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://moveit.ros.org/wiki/PR2/Setup_Assistant/Quick_Start|here's a tutorial]] on how to configure it, even if it shows another configuration for the PR2), in which case you'll just have to use the *.srdf defined for that robot. Link names are self explanatory, and defined in the robot definition files. Planning groups are defined in the *.srdf, and represent kinematic chains on the robot: lists of links that will typically move together to achieve some goal.+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://moveit.ros.org/wiki/PR2/Setup_Assistant/Quick_Start|here's a tutorial]] on how to configure it, even if it shows another configuration for the PR2), in which case you'll just have to use the ''*.srdf'' defined for that robot. Link names are self explanatory, and defined in the robot definition files. Planning groups are defined in the ''*.srdf'', and represent kinematic chains on the robot: lists of links that will typically move together to achieve some goal.
  
 Sometimes you just want to know a trajectory between a robot's state and some goal, but you don't want to also execute the motion. For such situations, you can run something like: Sometimes you just want to know a trajectory between a robot's state and some goal, but you don't want to also execute the motion. For such situations, you can run something like:
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 <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 "r_wrist_roll_link" "right_arm" tuti:*pose-right*)  +    (plan-link-movement "r_wrist_roll_link" "right_arm" tuti:*pose-right*)  
-                     (setf tuti:*start-robot-state* start-robot-state-p)  +  (setf tuti:*start-robot-state* start-robot-state-p)  
-                     (setf tuti:*planned-trajectory* planned-trajectory-p))+  (setf tuti:*planned-trajectory* planned-trajectory-p))
 </code> </code>
  
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                         1.5                          1.5 
                         t                          t 
-                        (roslisp:make-msg "moveit_msgs/Constraints"))+                        :path-constraints-msg (roslisp:make-msg "moveit_msgs/Constraints"))
 </code> </code>