How to add constraints to the moveit database?
I'm trying to add an orientation constraint to the moveit database so I can use it for benchmarking afterward.
My current steps are:
Start my moveit/rviz launch file (equivalent to the default demo.launch of the moveit setup assistant) with the
db:=true
argument.Connect to the database in rviz
Start my python script where I use the moveit_commander. The most important steps are:
moveit_commander.roscpp_initialize(sys.argv) self.robot = moveit_commander.RobotCommander() self.scene = moveit_commander.PlanningSceneInterface() self.move_group = moveit_commander.MoveGroupCommander('box_gripper') self.move_group.set_constraints_database( '127.0.0.1', 33829) constraint = Constraints() constraint.name = "tilt constraint" tilt_constraint = OrientationConstraint() tilt_constraint.header.frame_id = "base_link" tilt_constraint.link_name = "box_gripper_link" tilt_constraint.orientation = Quaternion(0.5, 0.5, 0.5, 0.5) tilt_constraint.absolute_x_axis_tolerance = pi / 3 tilt_constraint.absolute_y_axis_tolerance = pi tilt_constraint.absolute_z_axis_tolerance = pi / 4 tilt_constraint.weight = 1 constraint.orientation_constraints = [tilt_constraint] self.move_group.set_path_constraints(constraint)
During these steps, I get no errors but the constraint doesn't appear in the rviz drop-down list.
Are there some steps missing?
Or is it not possible at all with the moveit_commadner?