ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Hi there,

If you are planning with MoveIt! using the MoveGroupCommander (python/C++), you can inspect the trajectory that was planned. I do this by the following:

group_manipulator.set_pose_target(pose_target)  
plan_manipulator = group_manipulator.plan()

print plan_manipulator.joint_trajectory_points_positions

This will allow you to inspect the positions of each way point in the trajectory. Rather than printing them to screen, you can plot them with your favorite tool.

Hi there,

If you are planning with MoveIt! using the MoveGroupCommander (python/C++), you can inspect the trajectory that was planned. I do this by the following:

group_manipulator.set_pose_target(pose_target)  
plan_manipulator = group_manipulator.plan()

print plan_manipulator.joint_trajectory_points_positions
plan_manipulator.joint_trajectory.points.positions

More information about joint_trajectory mugs can be found here.

This will allow you to inspect the positions of each way point in the trajectory. Rather than printing them to screen, you can plot them with your favorite tool.

Hi there,

If you are planning with MoveIt! using the MoveGroupCommander (python/C++), you can inspect the trajectory that was planned. I do this by the following:

group_manipulator.set_pose_target(pose_target)  
plan_manipulator = group_manipulator.plan()

print plan_manipulator.joint_trajectory.points.positions

More information about joint_trajectory mugs msgs can be found here.

This will allow you to inspect the positions of each way point in the trajectory. Rather than printing them to screen, you can plot them with your favorite tool.