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...
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...
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...
在另一个终端rosrun运行python脚本 rosrun moveit_tutorials move_group_python_interface_tutorial.py 结果 教程中,对机械臂进行了以下几种控制: 规划并运动到指定关节目标 (joint goal) 规划一个到指定姿态目标(pose goal)的路径 规划一个坐标系路径 (Cartesian path) ...
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...
开发者ID:ChefOtter,项目名称:pentaxis,代码行数:33,代码来源:starting_pose.py 示例5: move_group_python_interface_tutorial ▲点赞 1▼ defmove_group_python_interface_tutorial():## First initialize moveit_commander and rospy.print"=== Starting tutorial setup"moveit_commander.roscpp_initialize(sys.a...
示例1: move_group_python_interface_tutorial ▲点赞 7▼ defmove_group_python_interface_tutorial():## First initialize moveit_commander and rospy.print"=== Starting tutorial setup"moveit_commander.roscpp_initialize(sys.argv) rospy.init_node...
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Using MoveGroup commander (Python API) and Pilz Industrial Motion Planner, changes to the allowed collision matrix (ACM) are published to the planning scene but do not propagate to the planning interface. Action Taken So Far Tested with an identical stack except with OMPL planner in the pipeline...