current_state.py

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#! /usr/bin/env python3
# -*- coding: utf-8 -*-
 
from moveit.task_constructor import core, stages
from py_binding_tools import roscpp_init
import time
 
roscpp_init("mtc_tutorial")
 
# Create a task
task = core.Task()
task.name = "current state"
 
# Get the current robot state
currentState = stages.CurrentState("current state")
 
# Add the stage to the task hierarchy
task.add(currentState)
 
if task.plan():
    task.publish(task.solutions[0])
time.sleep(1)