moveit_goal_builder package from moveit_goal_builder repo

moveit_goal_builder

Package Summary

Tags No category tags.
Version 0.1.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jstnhuang/moveit_goal_builder.git
VCS Type git
VCS Version indigo-devel
Last Updated 2017-08-05
Dev Status DEVELOPED
Released RELEASED

Package Description

The moveit_goal_builder package

Additional Links

Maintainers

  • Justin Huang

Authors

No additional authors.

moveit_goal_builder {#mainpage}

Goal builder for MoveIt's MoveGroup action.

This is useful for when you want to use the MoveGroup actionlib interface directly, instead of using the MoveGroup class. This allows you to poll when the action is done, which the normal MoveGroup interface does not allow you to do. In the demo linked below, for example, you can stop a MoveIt execution by shutting down the demo node with Ctrl+C.

C++ example

moveit_goal_builder::Builder builder("base_link", "arms");
builder.AddPoseGoal("r_wrist_roll_link", pose);
builder.AddPathOrientationConstraint(orientation_constraint);
builder.planning_time = 10.0;
builder.num_planning_attempts = 3;
builder.can_replan = true;
builder.replan_attempts = 3;

moveit_msgs::MoveGroupGoal goal;
builder.Build(&goal);

Python example

# To move to a current robot pose with a few options changed.
builder = MoveItGoalBuilder()
builder.set_pose_goal(pose_stamped)
builder.replan = True
builder.replan_attempts = 10
goal = builder.build()

C++ vs. Python

The C++ and Python APIs are similar, but with a few differences: - The C++ version supports multi-arm goals, the Python version does not. - The Python version takes PoseStamped messages for the pose goal and transforms them when you call build. The C++ version takes Pose messages, which are assumed to be in the planning frame.

CHANGELOG

Changelog for package moveit_goal_builder

0.1.1 (2017-07-26)

  • Added dependency on TF.
  • Updated documentation.
  • Contributors: Justin Huang

0.1.0 (2017-07-24)

  • Initial package release.
  • Contributors: Justin Huang

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged moveit_goal_builder at answers.ros.org