play_motion package from play_motion repo

play_motion play_motion_msgs

Package Summary

Tags No category tags.
Version 0.4.6
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/pal-robotics/play_motion.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2018-09-28
Dev Status DEVELOPED
Released RELEASED

Package Description

Plays a pre-recorded motion on a robot

Additional Links

No additional links.

Maintainers

  • Victor Lopez

Authors

  • Paul Mathieu
  • Adolfo Rodriguez Tsouroukdissian

play_motion

This tool is used to play pre-recorded motions on ros_control compliant robots via a simple actionlib interface. Any robot that implements control via joint_trajectory_controller can be put into motion with play_motion.

Starting from version 0.4, play_motion will by default compute a collision-free trajectory between the robot's current state and the first motion waypoint. This requires your robot to have a running moveit setup, and to configure play_motion to use it. If you're not interested in the motion planning capability, it's possible to disable it altogether. Refer to the config/ folder for configuration examples.

How-to

  1. Prepare one (or more!) motion. They need to be loaded as rosparams. You will find samples in the config/ folder.
   rosparam load config/your_motion_file.yaml

  1. Launch play_motion (without motion planning capabilities, for simplicity)
   rosparam set /play_motion/disable_motion_planning true
   rosrun play_motion play_motion

  1. Fire an actionlib client that publishes on /play_motion action server, enter the name of your motion on the motion_name field and set skip_planning=true to not use motion planning.

That's it!

CHANGELOG

Changelog for package play_motion

0.4.6 (2018-09-28)

  • Merge branch \'use-weak-ref\' into \'erbium-devel\' Fix error when changing controllers during a motion See merge request app-tools/play_motion!4
  • Fix error when changing controllers during a motion
  • Contributors: Victor Lopez

0.4.5 (2018-01-11)

  • fixed merge
  • 0.4.4
  • updated changelog
  • added missing joint trajectory controller for test
  • added missing position_controllers test
  • added missing xacro test depend
  • migration to kinetic
  • added extra test dependencies
  • added gitignore and update new ros_control kinetic compatibility
  • Contributors: Hilario Tome, Hilario Tom

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 play_motion at answers.ros.org

play_motion package from play_motion repo

play_motion play_motion_msgs

Package Summary

Tags No category tags.
Version 0.4.4
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/pal-robotics/play_motion.git
VCS Type git
VCS Version indigo-devel
Last Updated 2017-11-23
Dev Status DEVELOPED
Released RELEASED

Package Description

Plays a pre-recorded motion on a robot

Additional Links

No additional links.

Maintainers

  • Victor Lopez

Authors

  • Paul Mathieu
  • Adolfo Rodriguez Tsouroukdissian

play_motion

This tool is used to play pre-recorded motions on ros_control compliant robots via a simple actionlib interface. Any robot that implements control via joint_trajectory_controller can be put into motion with play_motion.

Starting from version 0.4, play_motion will by default compute a collision-free trajectory between the robot's current state and the first motion waypoint. This requires your robot to have a running moveit setup, and to configure play_motion to use it. If you're not interested in the motion planning capability, it's possible to disable it altogether. Refer to the config/ folder for configuration examples.

How-to

  1. Prepare one (or more!) motion. They need to be loaded as rosparams. You will find samples in the config/ folder.
   rosparam load config/your_motion_file.yaml

  1. Launch play_motion (without motion planning capabilities, for simplicity)
   rosparam set /play_motion/disable_motion_planning true
   rosrun play_motion play_motion

  1. Fire an actionlib client that publishes on /play_motion action server, enter the name of your motion on the motion_name field and set skip_planning=true to not use motion planning.

That's it!

CHANGELOG

Changelog for package play_motion

0.4.4 (2017-11-23)

  • add command line run_motion executables
  • Contributors: Jordi Pages

0.4.3 (2016-03-30)

  • Add play_motion continuous test
  • Migrate package to format 2, catkin lint fixes
  • Contributors: Victor Lopez

0.4.2 (2015-11-17)

  • Fix crash when malformed motion was requested
  • Contributors: Sammy Pfeiffer

0.4.1 (2014-11-21)

  • Update package maintainer/authors
  • Add missing configuration for depender projects
  • Refactor argument names to convention
  • Add function alternatives where NodeHandle defaults to one of play_motion
  • log error when error code is 0
  • Add default values and units to sample config.
  • Add new parameter to configure the minimum approach time to use when skip_planning = true.
  • Contributors: Adolfo Rodriguez Tsouroukdissian, Bence Magyar, Daniel Pinyol, V

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 play_motion at answers.ros.org

play_motion package from play_motion repo

play_motion play_motion_msgs

Package Summary

Tags No category tags.
Version 0.4.4
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/pal-robotics/play_motion.git
VCS Type git
VCS Version hydro-devel
Last Updated 2017-11-23
Dev Status DEVELOPED
Released RELEASED

Package Description

Plays a pre-recorded motion on a robot

Additional Links

No additional links.

Maintainers

  • Victor Lopez

Authors

  • Paul Mathieu
  • Adolfo Rodriguez Tsouroukdissian

play_motion

This tool is used to play pre-recorded motions on ros_control compliant robots via a simple actionlib interface. Any robot that implements control via joint_trajectory_controller can be put into motion with play_motion.

Starting from version 0.4, play_motion will by default compute a collision-free trajectory between the robot's current state and the first motion waypoint. This requires your robot to have a running moveit setup, and to configure play_motion to use it. If you're not interested in the motion planning capability, it's possible to disable it altogether. Refer to the config/ folder for configuration examples.

How-to

  1. Prepare one (or more!) motion. They need to be loaded as rosparams. You will find samples in the config/ folder.
   rosparam load config/your_motion_file.yaml

  1. Launch play_motion (without motion planning capabilities, for simplicity)
   rosparam set /play_motion/disable_motion_planning true
   rosrun play_motion play_motion

  1. Fire an actionlib client that publishes on /play_motion action server, enter the name of your motion on the motion_name field and set skip_planning=true to not use motion planning.

That's it!

CHANGELOG

Changelog for package play_motion

0.4.4 (2017-11-23)

  • add command line run_motion executables
  • Contributors: Jordi Pages

0.4.3 (2016-03-30)

  • Add play_motion continuous test
  • Migrate package to format 2, catkin lint fixes
  • Contributors: Victor Lopez

0.4.2 (2015-11-17)

  • Fix crash when malformed motion was requested
  • Contributors: Sammy Pfeiffer

0.4.1 (2014-11-21)

  • Update package maintainer/authors
  • Add missing configuration for depender projects
  • Refactor argument names to convention
  • Add function alternatives where NodeHandle defaults to one of play_motion
  • log error when error code is 0
  • Add default values and units to sample config.
  • Add new parameter to configure the minimum approach time to use when skip_planning = true.
  • Contributors: Adolfo Rodriguez Tsouroukdissian, Bence Magyar, Daniel Pinyol, V

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 play_motion at answers.ros.org