Package Summary

Tags No category tags.
Version 0.4.14
License LGPLv3
Build type CATKIN

Repository Summary

Checkout URI
VCS Type git
VCS Version melodic-devel
Last Updated 2023-11-22
Dev Status END-OF-LIFE
CI status No Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
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Package Description

Allows to store poses during teach-in.

Additional Links


  • Joachim Schleicher
  • Richard Feistenauer
  • Tobias Vetter


No additional authors.

Store poses during teaching

After moving the robot to the desired position, you can store the current position to file.

To save the current robot pose as ros_msg to a file use rosrun pilz_store_postions store_current_pose. The generated file is stored at your current directory as and can be included into your pilz_robot_programming script as follows:

#!/usr/bin/env python
from pilz_robot_programming import *
import points as pts
import rospy

__REQUIRED_API_VERSION__ = "1"    # API version
__ROBOT_VELOCITY__ = 0.5          # velocity of the robot

# main program
def start_program():

    # move to start point with joint values to avoid random trajectory
    r.move(Ptp(goal=pts.pick_pose, vel_scale=__ROBOT_VELOCITY__))

if __name__ == "__main__":
    # init a rosnode

    # initialisation
    r = Robot(__REQUIRED_API_VERSION__)  # instance of the robot

    # start the main program

while the generated looks similar as:

from geometry_msgs.msg import Point
from geometry_msgs.msg import Pose
from geometry_msgs.msg import Quaternion

pick_pose = Pose(
    position = Point(
      x = 0.07,
      y = 0.40,
      z = 0.50
    orientation = Quaternion(
      x = 1.0,
      y = 0.0,
      z = 0.0,
      w = 0.0

Display Stored Points

Stored points can be published as target_frames. Those target frames can for example be displayed by Rviz.

To publish the points run:

rosrun pilz_store_positions pose_visualisation_node _file_path:="/absolute/path/to/"


Changelog for package pilz_store_positions

0.4.14 (2021-07-22)

0.4.13 (2021-07-12)

0.4.12 (2020-11-24)

  • Use new coverage feature of ros_pytest
  • Contributors: Pilz GmbH and Co. KG

0.4.11 (2020-07-16)

  • Add ability to store one position
  • Contributors: Pilz GmbH and Co. KG

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Launch files

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Recent questions tagged pilz_store_positions at Robotics Stack Exchange