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Hi everyone,
I would like to give my robot a sequence of goals such that by pushing plan & execution in Rviz it is possibile to make the robot reach every single goal serially. Does anyone know how I could implement this? Any help is appreciated. Thanks a lot.
Ros version: kinetic Ubuntu 16.04
Still don't know how to do it through Rviz interface, but there is a way through code. You can set (n) targets by using "geometry_msgs" and then calling (n) times the functions "setPoseTarget(target_i)" and "move()", which waits for the execution of the trajectory to complete, your robot will follow every single target depending on the sequence you established.
RViz is essentially a programmers / debugging interface. The MoveIt motion planning plugin is not intended to provide a complete robot programming environment, but a way to visualise datastreams and state internal to MoveIt while you use it external to RViz.
There is no support for ..
nice to see your answer,I had try what you said,but the arm just go to the last goal,not follow the sequence goal,here is some of my code: geometry_msgs::Pose p1; group.setPoseTarget(p1); geometry_msgs::Pose p2; group.setPoseTarget(p2); MoveGroupInterface::Plan my_plan; group.move();
Yes, after you write "group.setPoseTarget(p1)" you have to write the command "group.move()". Then you do the same after writing "group.setPoseTarget(p2)". So basically everytime you set a pose target, you need a "move" command. This is how you get a sequence of movements
Asked: 2018-07-11 04:55:07 -0500
Seen: 1,732 times
Last updated: Oct 11 '18
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