[MoveIt!] How to set a start pose with python?

asked 2016-10-11 09:41:59 -0500

F4bich
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Hi guys,

is it possible to set the pose (e.g. described as a list of joint angles) of the robot to certain values without planning a path, using the python move_group interface? Possibly there doesn't exist a path from my current pose A to the desired start pose B, but I want to find a path from B to C.

I think the 'set_start_state' function is supposed to provide this; however, I don't know how the start point is supposed to be specified (as msg).

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answered 2016-10-11 18:21:27 -0500

JoshMarino
592 ●14 ●21 ●25

It appears to be a RobotState message from here. You can print out the start_state to see what it consists of.

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Using the robot_state doesn't work for me. I used these functions:

state = robot.get_current_state()
group.set_start_state(state)

If the state is set like that, and then a path is planned somewhere else, the path will start in the state it was before setting it to something else.

F4bich ( 2016-10-12 07:12:45 -0500 )edit

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answered 2020-09-03 00:03:16 -0500

Rufus
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If you're simulating with gazebo, you can set the start pose when spawning the robot in the launch file like so:

<include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" default="worlds/empty.world"/>
    <arg name="paused" value="true"/>
    <arg name="gui" value="$(arg gui)"/>
</include>

<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -unpause -param robot_description -model robot -z 0.0 -J elbow_joint -1.57" respawn="false" output="screen" />

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[MoveIt!] How to set a start pose with python?

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