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The C++ MoveGroup's plan function returns an error code, but the Python MoveGroupCommander's plan function seems to return only the RobotTrajectory. Am I misunderstanding it? What is the best way to check in Python if a motion plan was successful?
By checking if the trajectory contains points, in kinetic/melodic at least:
plan = move_group.plan()
if plan.joint_trajectory.points: # True if trajectory contains points
move_success = move_group.execute(plan)
else:
rospy.logerr("Trajectory is empty. Planning was unsuccessful.")
Looks like this API might change, and success might be returned via a tuple in the future.
Asked: 2018-09-29 01:35:50 -0500
Seen: 443 times
Last updated: Apr 03 '19
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