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How to check the moveit is ready for planning through API

asked 2020-06-26 10:59:30 -0600

TouchDeeper gravatar image

updated 2020-06-27 07:31:44 -0600

gvdhoorn gravatar image

Hello, Before I run the manipulator motion node, I need to wait for the moveit to load completely, the load completed sign is shown in the output of the terminal:

* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService

ros.moveit_ros_move_group: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
ros.moveit_ros_move_group: MoveGroup context initialization complete

You can start planning now!

Is there an API through which I can check whether the moveit load completely? Thanks!

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Please do not post screenshots of terminals. It's all text, so copy-paste the text from the terminal into your question.

If/when you fix this, we can re-open your question. Do not post a new one, edit your current question to replace the screenshot. Use the edit button/link for this.

gvdhoorn gravatar image gvdhoorn  ( 2020-06-26 13:25:05 -0600 )edit

Thank you, I have modified my question description.

TouchDeeper gravatar image TouchDeeper  ( 2020-06-26 22:02:16 -0600 )edit

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answered 2020-06-27 02:08:45 -0600

v4hn gravatar image

Why do you feel the need to wait for move_group to initialize everything?

Usually you should only need to wait for the respective ROS interface you want to use to come up. E.g., MoveGroupInterfaceproceeds that way:

If you really want to wait for the You can start planning now! message, you will have to either

  1. modify move_group around here to publish to a latched topic, e.g., move_group/initialized or
  2. write a new MoveGroupCapability that polls MoveGroupContext::status() and publishes said topic if it returns true.
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@v4hn Thanks for your answer. You are right, MoveGroupInterface will wait for the interface to come up. I don't need to program myself to realize the wait function.

TouchDeeper gravatar image TouchDeeper  ( 2020-06-27 12:37:50 -0600 )edit

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Asked: 2020-06-26 10:59:30 -0600

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Last updated: Jun 27 '20