get MoveIt! planning status

Hi,

is it possible to get some feedback from MoveIt! using Python? I am using the planning interface in Python and TracIK.

I create a plan (adding waypoints) -> call group.computecartesionpath -> execute the plan

After the execute the robot is not moving. In the roslog, I can see, that it followed 0 pose from my poses, with 0% success rate. The problem, that sometimes the plan is not impossible, if I move away my robot and try the same plan again, it works perfectly. Maybe it is just a timeout, or collision, or something else.

I would like to catch this kind of "errors". Is there any nice way to do it? Or an API I can use?

Thanks in advance.

Balint Tahi

Asked by balint.tahi on 2019-01-02 06:41:47 UTC

Comments

For computeCartesianPath(..) specifically you'd look at the fraction returned. That does not give you a reason, but at least let's you perform checks before you attempt to execute the trajectory.

Asked by gvdhoorn on 2019-01-02 07:25:58 UTC

Also: given your context you might want to take a look at libraries such as Descartes and Tesseract. Those will probably be more suited to the types of tasks I believe you are trying to automate.

Asked by gvdhoorn on 2019-01-02 07:27:04 UTC

Fraction seems to be okay for my case, because I need only the fact of an error and notify the user if there is an error. Also thanks for the libs, I will take a look at them.

Asked by balint.tahi on 2019-01-02 07:57:10 UTC