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Define Startup State in MoveIt

asked 2017-03-01 04:43:52 -0500

Rhemus
79 ●8 ●11 ●15

updated 2017-03-01 05:08:24 -0500

v4hn
2950 ●18 ●53 ●57

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 ( 2017-03-01 04:49:54 -0500 )edit

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answered 2017-03-01 05:10:08 -0500

v4hn
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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 ( 2017-03-01 05:20:20 -0500 )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 ( 2017-03-01 05:53:25 -0500 )edit

Thank you it worked!

Rhemus ( 2017-03-01 06:03:23 -0500 )edit

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

fvd ( 2018-07-10 00:57:23 -0500 )edit

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Asked: 2017-03-01 04:43:52 -0500

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Last updated: Mar 01 '17

Define Startup State in MoveIt edit

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