Created
July 30, 2019 14:57
-
-
Save KaushalkumarPatel/4369e4f5b7a4b393c165046b66b4821a to your computer and use it in GitHub Desktop.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
#! /usr/bin/env python | |
import sys | |
import copy | |
import rospy | |
import moveit_commander | |
import moveit_msgs.msg | |
import geometry_msgs.msg | |
from math import pi | |
from std_msgs.msg import String | |
from moveit_commander.conversions import pose_to_list | |
moveit_commander.roscpp_initialize(sys.argv) | |
rospy.init_node('move_group_python_interface_tutorial', anonymous=True) | |
robot = moveit_commander.RobotCommander() | |
scene = moveit_commander.PlanningSceneInterface() | |
group = moveit_commander.MoveGroupCommander("arm") | |
display_trajectory_publisher = rospy.Publisher('/move_group/display_planned_path', moveit_msgs.msg.DisplayTrajectory, queue_size=20) | |
pose_goal = rospy.subscriber('/door_handle_detection/pose_handle',geometry_msgs.msg.PoseStamped,queue_size=20) | |
#pose_goal.orientation.w = 0.0 | |
#pose_goal.position.x = 0.4 | |
#pose_goal.position.y = 0.3 | |
#pose_goal.position.z = 0.4 | |
group.set_pose_target(pose_goal) | |
group.go(wait=True) | |
rospy.sleep(5) | |
moveit_commander.roscpp_shutdown() |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment