Pick and Place using Moveit

asked 2015-05-21 21:52:12 -0600

HugoLqsticot gravatar image

Hello, I'm using Moveit and Rviz to move my robot. I wrote a simple code to use the Pick and Place. My pick works very well, but my Place don't. Do you have any idea ?

I'm under Hydro.

And I have this error :

Fail: ABORTED: Must specify group in motion plan request

Here is my code.

import sys
import rospy
from moveit_commander import RobotCommander, MoveGroupCommander
from moveit_commander import PlanningSceneInterface, roscpp_initialize, roscpp_shutdown
from geometry_msgs.msg import PoseStamped, Pose
from moveit_msgs.msg import Grasp, GripperTranslation, PlaceLocation
from trajectory_msgs.msg import JointTrajectoryPoint

if __name__=='__main__':

 rospy.init_node('moveit_py_demo', anonymous=True)

 scene = PlanningSceneInterface()
 robot = RobotCommander()
 right_arm = MoveGroupCommander("right_arm")
 end_effector_link = right_arm.get_end_effector_link()  

 print "======= PICK"

 p = PoseStamped()
 p.header.frame_id = "base_footprint"
 p.pose.position.x = 0.8
 p.pose.position.y = -0.3
 p.pose.position.z = 0.7
 p.pose.orientation.w = 1.0

 print "======= PLACE"
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For me also, almost same problem.

Can anyone solve this issue?

Sai kiran gravatar image Sai kiran  ( 2017-08-10 04:28:52 -0600 )edit

Hello I am curious to know if you are able to solve this issue and complete the pick and place demo. Can you please let me know as this can help me solve the similar issue. Thanks in advance

Sai teja gravatar image Sai teja  ( 2020-07-12 19:58:16 -0600 )edit