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__':

 roscpp_initialize(sys.argv)
 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"
 right_arm.pick("part")
 rospy.sleep(2)  

 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"
 right_arm.place("part",p)
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Comments

For me also, almost same problem.

Can anyone solve this issue?

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