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How do I get full RobotState from MoveIt? (in python)

asked 2013-09-04 23:43:06 -0500

liborw gravatar image

updated 2013-09-04 23:47:36 -0500

How do I get full RobotState from MoveIt? I could use /joint_states topic but there are more publishers of that, I would have to aggregate it somehow. There must be a simpler way, or am I wrong?

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answered 2013-09-04 23:56:11 -0500

bit-pirate gravatar image

You can use the get_planning_scene service to query information about the various parts of MoveIt's planning scene.

Here is the detailed description: http://docs.ros.org/api/moveit_msgs/html/srv/GetPlanningScene.html

PS: For some reason that service was first not available for me. I had to manually add this capability in the move_group.launch:

<param name="capabilities" value="move_group/MoveGroupCartesianPathService                                                            [...]
                                  move_group/MoveGroupGetPlanningSceneService" />
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answered 2013-09-05 00:33:56 -0500

isucan gravatar image

Another option is to use the CurrentStateMonitor class: http://moveit.ros.org/doxygen/classplanning__scene__monitor_1_1CurrentStateMonitor.html

Which allows you to monitor the current state easily.

Another way is to use the MoveGroupInterface class: http://moveit.ros.org/doxygen/classmoveit_1_1planning__interface_1_1MoveGroup.html and calling getCurrentJointValues(). This function is a bit slow, as it will wait for a little while to receive messages so it can construct a full state. I recommend the first option if you need to get the state multiple times.

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I just saw the in python bit. I am working on a way to get a RobotState message (should be in today or tomorrow). At the moment, in RobotCommander you can call get_joint and get_link, which will give you some information about the state (joint position, transforms)

isucan gravatar imageisucan ( 2013-09-05 00:36:11 -0500 )edit

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Asked: 2013-09-04 23:43:06 -0500

Seen: 825 times

Last updated: Sep 05 '13