simple_moveit_interface

This python class is a wrapper around MoveIt's moveit_commander python interface to simplify the scripting of robotic applications with ROS and MoveIt.

Offered methods

Motions

• Execute a motion plan
• Move to a 6D pose
• Move to a 3D position
• Move to a predefined fixed pose
• Move to a named TF pose
• Move to the position of a named TF pose
• Move to a joint state
• Move in x/y/z direction
• Move in x/y/z direction in a straight line
• Rotate around x/y/z
• Move a cartesian path to pose

Planning scene

• Initialize the planning scene
• Add a simple ground to the scene
• Add a box to the scene
• Wait for an object to be spawned

Usage

See the example code in test_moveit_interface.py

Links

• MoveIt: https://moveit.ros.org
• Move Group Python interface: http://docs.ros.org/melodic/api/moveit_tutorials/html/doc/move_group_python_interface/move_group_python_interface_tutorial.html MoveIt Commander documentation: http://docs.ros.org/melodic/api/moveit_commander/html/index.html