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Hi @Ghotic

You can get the values of all the joints from the MoveGroup interface.

Create an instance of RobotCommander object and get_current_state() method.

robot = moveit_commander.RobotCommander()
print(robot.get_current_state())

Or using `get_current_joint_values()‘

joint_values = move_group.get_current_joint_values()

You can use Python or C++ to access this information.

Take a look at this tutorial: https://ros-planning.github.io/moveit_tutorials/doc/move_group_python_interface/move_group_python_interface_tutorial.html

Hi @Ghotic

You can get the values of all the joints from the MoveGroup interface.

Create an instance of RobotCommander object and use the get_current_state() method.

robot = moveit_commander.RobotCommander()
print(robot.get_current_state())

Or by using `get_current_joint_values()‘

joint_values = move_group.get_current_joint_values()

You can use Python or C++ to access this information.

Take a look at this tutorial: https://ros-planning.github.io/moveit_tutorials/doc/move_group_python_interface/move_group_python_interface_tutorial.html