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Constrained Cartesian planning using moveit commander #805

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merged 5 commits into from Apr 10, 2018

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srsidd commented Mar 19, 2018

Description

The moveit::planning_interface::MoveGroup::computeCartesianPath takes in an optional argument for path constraints, but the wrapper for using move_group in python using moveit_commander does not have the same option.
This PR adds that feature to allow for constrained cartesian planning using moveit_commander.

Please explain the changes you made, including a reference to the related issue if applicable

Checklist

  • Required: Code is auto formatted using clang-format
  • Extended the tutorials / documentation, if necessary reference
  • Include a screenshot if changing a GUI
  • Optional: Created tests, which fail without this PR reference
  • Optional: Decide if this should be cherry-picked to other current ROS branches (Indigo, Jade, Kinetic)
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mlautman commented Mar 26, 2018

Glad to see the python interfaces getting some love. Would you mind adding a python script to the moveit_commander/demo directory showing how to use path constraints in python?

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mlautman commented Mar 27, 2018

For context, I'm currently re-vamping the tutorials and would like to include this feature in the moveit_commander tutorial. Also, having a demo script in that folder will help us quickly test that the changes you made work as expected.

Siddharth Srivatsa

# Software License Agreement (BSD License)
#
# Copyright (c) 2013, Willow Garage, Inc.

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@davetcoleman

davetcoleman Apr 10, 2018

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You're welcome to change this to HMI

a = robot.right_arm
a.set_start_state(RobotState())

print "cutternt pose:"

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davetcoleman Apr 10, 2018

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"current"

waypoints.append(wpose)

plan, fraction = a.compute_cartesian_path(waypoints, 0.01, 0.0, path_constraints=c)
print 'Plan success rate: ', fraction

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davetcoleman Apr 10, 2018

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"Percent plan complete:"
not really a rate as its run just once

Siddharth Srivatsa

@davetcoleman davetcoleman merged commit 611b400 into ros-planning:kinetic-devel Apr 10, 2018

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mlautman commented Apr 10, 2018

@srsidd Thanks for the demo script! I'll include it in the revamp of the tutorials :)

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