README

play_motion2_cli

Command line interface for managing the play_motion2 aplication.

list

The list verb is used for listing the existing motions.

Arguments:

• --is-ready, -r:Additionally show if the motion is ready.

Usage:

ros2 play_motion list [--is-ready | -r ]

info

The info verb is used for displaying information about a motion. By default, it displays the key, the description and the joints. It can also display more specific information.

Arguments:

• motion_name : The name of the motion to obtain the information. This argument is required.

• --verbose, -v: Prints detailed information like the motion name, usage, joint positions, and times from start.

Usage:

ros2 play_motion info <motion_name> [--verbose | -v ]

run

The run verb is used for execute a specified motion.

Arguments:

• motion_name : The name of the motion to execute. This argument is required.

• --skip-planning: Whether to skip planning for approaching to the first position or not.

Usage:

ros2 play_motion run <motion_name> [--skip-planning]