pose_target = geometry_msgs.msg.Pose() pose_target.orientation.w = 1.0 pose_target.position.x = 0.7 pose_target.position.y = -0.05 pose_target.position.z = 1.1 group.set_pose_target(pose_target) 调用规划器计算规划并在Rviz里显示,注意:这里只是规划,不是实际执行。 plan1 = group.plan() p...
/* Next Step goes below */// Create the MoveIt MoveGroup Interface// 创建 MoveGroup 接口usingmoveit::planning_interface::MoveGroupInterface;// 命名空间automove_group_interface=MoveGroupInterface(node,"panda_arm");// 创建接口// Set a target Pose// 设置目标位姿autoconsttarget_pose=[]{// 机...
pose_target = geometry_msgs.msg.Pose() pose_target.orientation.w = 1.0 pose_target.position.x = 0.7 pose_target.position.y = -0.05 pose_target.position.z = 1.1 group.set_pose_target(pose_target) 调用规划器计算规划并在Rviz里显示,注意:这里只是规划,不是实际执行。 plan1 = group.plan() p...
MoveIt Python接口主要通过MoveGroupCommander类来实现大部分功能。这个类提供了设置关节或目标姿态、创建行为规划、移动机器人、在环境中增加对象或给机器人增加或减少对象等功能。 设置目标姿态:可以使用set_pose_target方法为目标位置设置姿态,该方法接受一个Pose消息作为参数,该消息定义了目标位置的位置和方向。 规划动...
首先,需要导入一些必要的python包 import sys import copy import rospy import moveit_commander import moveit_msgs.msg import geometry_msgs.msg 初始化moveit_commander和rospy print "=== Starting tutorial setup" moveit_commander.roscpp_initialize(sys.argv) rospy.init_node...
planning_components->setStartStateToCurrentState(); 设置计划目标的第一种方法是使用geometry_msgs :: PoseStamped ROS消息类型,如下所示 geometry_msgs::PoseStamped target_pose1; target_pose1.header.frame_id = "panda_link0"; target_pose1.pose.orientation.w = 1.0; target_pose1.pose.position.x = ...
编写运动规划脚本: 编写Python或C++脚本来调用MoveIt的API,实现对第二个arm的运动规划和执行。 示例代码 代码语言:txt 复制 #!/usr/bin/env python import rospy from moveit_commander.conversions import pose_to_list from geometry_msgs.msg import PoseStamped from moveit_msgs.msg import RobotTrajectory f...
self.group.set_pose_target(pose_goal) ## Now, we call the planner to compute the plan and execute it. plan = self.group.go(wait=True) # Calling `stop()` ensures that there is no residual movement self.group.stop() # It is always good to clear your targets after planning with pos...
31 + PythonLaunchDescriptionSource([os.path.join(get_package_share_directory('ur_moveit_config'), 'launch', 'ur_moveit.launch.py')]), 32 + launch_arguments=ur_moveit_launch_arguments.items() 33 + ) 34 + 35 + return LaunchDescription([ 36 + launch_ur_driver, 37 + launch...
Regarding the Python interface, the moveit_commander package [18] is used to access to the different move_group capabilities. This package has three main classes: RobotCommander, the outer-level interface to the robot, PlanningSceneInterface, the interface to the world surrounding the robot, and...