move_group joint space goal

asked 2020-01-14 11:31:52 -0600

zahid990170 gravatar image

Hi,

I am using MoveGroupInterface of MoveIt to do basic motion planning of a UR5 robotic arm. For planning to a joint-space goal, I create a publisher for visualizing plans in rviz.

display_pub = nh.advertise<moveit_msgs::DisplayTrajectory>("/move_group/display_planned_path", 1, true);

I specify a vector of joint values, and set as the target.

  double refVals [] = {-1.8963, -0.5800, -2.2339, -1.8976, 1.5629, 2.0322};
  std::vector<double> newJointVals;

  for (int i=0; i<6; i++) {
    newJointVals.push_back(refVals[i]);
  }
  move_group.setJointValueTarget(newJointVals);

And, then, I make planning to this joint-space goal as follows:

bool success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);

where, my_plan has been declared as,

moveit::planning_interface::MoveGroupInterface::Plan my_plan

After this, if I run the following sequence of commands, I should be able to see the motion plans within rviz.

 display_trajectory.trajectory_start = my_plan.start_state_;
 display_trajectory.trajectory.push_back(my_plan.trajectory_);
 display_pub.publish(display_trajectory)

But, I do not see any motion, when I launch the program. However, If I do the following instead,

 move_group.execute(my_plan);

I can see the robotic arm moving to the desired joint-space goal. Please, can somebody help with this.

thanks,

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