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Define Startup State in MoveIt

asked 2017-03-01 04:43:52 -0600

Rhemus gravatar image

updated 2017-03-01 05:08:24 -0600

v4hn gravatar image

Hey guys,

i want to declare the startup state of my UR5 Robot for motion planning in MoveIt (using a Python script). Every time i launch the demo file in RViz, the robot is lying flat on the ground (all joint states are zero). How can i define the start pose of the robot? I already declared the following:

moveit_commander.roscpp_initialize(sys.argv)
rospy.init_node('ur_arm')
pub_pos = rospy.Publisher('arm_pos', Pose, queue_size=10)    

scene = PlanningSceneInterface()
robot = RobotCommander()
group = MoveGroupCommander("manipulator")

Thanks for your support. Im running ROS Indigo on Ubuntu 14.04

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Can you please include some text on what you've already tried? This has been asked a few times already, so if you've tried some things but they didn't work that would be good to include as it would avoid readers suggesting the same things.

gvdhoorn gravatar imagegvdhoorn ( 2017-03-01 04:49:54 -0600 )edit

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answered 2017-03-01 05:10:08 -0600

v4hn gravatar image

This is not Python specific.

Initial states of the robot when simulated with demo.launch can be set to named targets in config/fake_controllers.yaml . See http://docs.ros.org/kinetic/api/movei... for an example.

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If i add

    initial:
      - group: arm
        pose:  home

where do i define what "home" is?

Rhemus gravatar imageRhemus ( 2017-03-01 05:20:20 -0600 )edit

home has to be a named target. These are defined in your robot's srdf file. You can either add them by hand or use the moveit_setup_assistant

v4hn gravatar imagev4hn ( 2017-03-01 05:53:25 -0600 )edit

Thank you it worked!

Rhemus gravatar imageRhemus ( 2017-03-01 06:03:23 -0600 )edit

I can't edit this answer, but the link is dead: http://docs.ros.org/kinetic/api/movei...

fvd gravatar imagefvd ( 2018-07-10 00:57:23 -0600 )edit

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Asked: 2017-03-01 04:43:52 -0600

Seen: 699 times

Last updated: Mar 01 '17