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Easy Access to robot poses created using the MoveIt! Setup Assistant

asked 2017-01-31 11:15:26 -0500

R.Mehra gravatar image

Consider that I have set 3 different poses for my robot with different names and different joint values.

Now while using the MoveIt Setup Assistant I can add the 3 poses under the tab Robot Posesand click the button MoveIt! at the bottom of the Setup Assistant screen to see the robot change the poses.

I want to know how I can easily switch between the 3 poses when I am using the move_group_interface and the RViz plugin.

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answered 2017-01-31 11:58:37 -0500

gvdhoorn gravatar image

updated 2017-01-31 12:00:58 -0500

Those poses are called named targets.

Using them in C++: moveit::planning_interface::MoveGroup::setNamedTarget(const std::string &name).

In the RViz planning plugin: select them from the drop-down under Select Goal State on the Planning tab.

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Is there a way to do the same thing with Python?

Jasmin gravatar image Jasmin  ( 2019-09-10 05:06:36 -0500 )edit
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I believe it was added in ros-planning/moveit#1300.

gvdhoorn gravatar image gvdhoorn  ( 2019-09-10 06:14:21 -0500 )edit

Perfect! thank you @gvdhoorn .

Jasmin gravatar image Jasmin  ( 2019-09-10 08:00:11 -0500 )edit

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Asked: 2017-01-31 11:15:26 -0500

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Last updated: Jan 31 '17