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Hi

I am not very skilled with python but I am using move_group with c++. For implementig that tutorial on your robot. You just need to change this command.

group = moveit_commander.MoveGroupCommander("left_arm")

Instead of "left_arm" you should put name of your planning group which you specified in moveit_setup_assistant Next important thing is to change desired goal to the real position which could your manipulator really reach.

pose_target = geometry_msgs.msg.Pose()
pose_target.orientation.w = 1.0
pose_target.position.x = 0.7
pose_target.position.y = -0.05
pose_target.position.z = 1.1
group.set_pose_target(pose_target)

Remember as it was mentioned in tutorial trajectory will be just planned and not executed

Whole code could be found here https://github.com/ros-planning/moveit_pr2/blob/indigo-devel/pr2_moveit_tutorials/planning/scripts/move_group_python_interface_tutorial.py

When you will running code remember that your move_group should be running.