get MoveIt! planning status

asked 2019-01-02 05:41:47 -0500

balint.tahi gravatar image


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.compute_cartesion_path -> 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

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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.

gvdhoorn gravatar image gvdhoorn  ( 2019-01-02 06:25:58 -0500 )edit

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.

gvdhoorn gravatar image gvdhoorn  ( 2019-01-02 06:27:04 -0500 )edit

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.

balint.tahi gravatar image balint.tahi  ( 2019-01-02 06:57:10 -0500 )edit