plan_with_constraints.py
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1 #!/usr/bin/env python
2 
3 # Software License Agreement (BSD License)
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5 # Copyright (c) 2018, Houston Mechatronics, Inc.
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35 # Author: Siddharth Srivatsa
36 
37 import sys
38 import rospy
39 from moveit_commander import RobotCommander, roscpp_initialize, roscpp_shutdown
40 from moveit_msgs.msg import RobotState, Constraints
41 from geometry_msgs.msg import Pose
42 
43 if __name__=='__main__':
44 
45  roscpp_initialize(sys.argv)
46  rospy.init_node('moveit_py_demo', anonymous=True)
47 
48  robot = RobotCommander()
49  rospy.sleep(1)
50 
51  a = robot.right_arm
52  a.set_start_state(RobotState())
53 
54  print "current pose:"
55  print a.get_current_pose()
56  c = Constraints()
57 
58  waypoints = []
59  waypoints.append(a.get_current_pose().pose)
60 
61  # Move forward
62  wpose = Pose()
63  wpose.position.x = wpose.position.x + 0.1
64  waypoints.append(wpose)
65 
66  # Move down
67  wpose.position.z -= 0.10
68  waypoints.append(wpose)
69 
70  # Move to the side
71  wpose.position.y += 0.05
72  waypoints.append(wpose)
73 
74  plan, fraction = a.compute_cartesian_path(waypoints, 0.01, 0.0, path_constraints=c)
75  print 'Plan success percent: ', fraction


moveit_commander
Author(s): Ioan Sucan
autogenerated on Sun Sep 15 2019 03:59:13