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Get joing angle

asked 2022-01-23 10:21:13 -0500

Ghotic gravatar image

Hello guys i am trying to find some example how can i get actual joint angle from planing. I follow demos from install tutorial and i add my robot to noetic moveit1. When i use rviz and plan movement it is possible to get angles of joints when i execute plan ?

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answered 2022-01-24 20:02:58 -0500

osilva gravatar image

updated 2022-01-24 20:07:01 -0500

Hi @Ghotic

You can get the values of all the joints from the MoveGroup interface.

Create an instance of RobotCommander object and use the get_current_state() method.

robot = moveit_commander.RobotCommander()
print(robot.get_current_state())

Or by using `get_current_joint_values()‘

joint_values = move_group.get_current_joint_values()

You can use Python or C++ to access this information.

Take a look at this tutorial: https://ros-planning.github.io/moveit...

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Asked: 2022-01-23 10:21:13 -0500

Seen: 33 times

Last updated: Jan 24