motion_interface module

Classes for robot movement

Edited from official ROS tutorial by Lukas Rustler

class motion_interface.MoveGroupPythonInterface(group_)

Bases: object

all_close(goal, actual, tolerance)

Convenience method for testing if a list of values are within a tolerance of their counterparts in another list @param: goal A list of floats, a Pose or a PoseStamped @param: actual A list of floats, a Pose or a PoseStamped @param: tolerance A float @returns: bool

apply_planning_scene(scene_msg)

close_gripper()

display_trajectory(plan)

Display trajectory in Rviz, the following code is needed for proper displaying.

execute_plan(plan, wait=True)

Note: The robot’s current joint state must be within some tolerance of the first waypoint in the `RobotTrajectory`_ or execute() will fail

get_current_state()

get_ee_pose(scale=1)

go_to_joint_position(joint_goal)

go_to_pose(pose, wait)

open_gripper()

plan_cartesian_path(wpose, collisions=True)

Cartesian Paths

You can plan a Cartesian path directly by specifying a list of waypoints for the end-effector to go through:

stop_robot()