move_group_example.py

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#!/usr/bin/env python
#
# Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#   http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.


import rospy
import simple_moveit_interface as smi

if __name__ == '__main__':
        rospy.init_node('move_example')
        while rospy.get_time() == 0.0: pass

        config = smi.get_goal_from_server("arm", "home")
        print config
        success = smi.moveit_joint_goal("arm", config)
        print success