MoveGroupInterface monitor (the status of)/stop trajectory execution
Hi all,
I am using MoveIt
planning interface called MoveGroupInterface
for simple motion plans, in particular, pose goals and joint-space goals. These seem to work fine as tested within RViz
and on real robotic arm UR5
. I have followed MoveIt
tutorials for this purpose.
However, I wanted to stop and resume the motions of the robotic arm. As I understand, planning and execution are two separate components, and execution is done via move
, execute
or asyncExecute
calls. I have decided to use asyncExecute
so that I could listen to some inputs from another node on a certain topic and could issue stop
command if so needed. If I want to monitor the status of ongoing trajectory execution, can I use certain API from MoveGroup
? However, I have read different posts, in particular, here, here , and they say that for the said functionality, we need to use actionlib
package; some other online text refer to using the move_group
action server interface. I would greatly appreciate, any explanation, guidance in this direction.
thanks,
Hi, I'm trying to achieve a similar functionality. Have a figured out how?