Robot Operating System Cookbook

Planning to a joint space goal

Sometimes, instead of just moving the end-effector towards a goal, we may be interested in setting a goal for a specific joint. Let's see how we can do this.

First of all, we'll need to launch the MoveIt RViz environment by using the following command:

$ roslaunch fetch_moveit_config fetch_planning_execution.launch  

And, execute the following Python code:

 #! /usr/bin/env python import sys import copy import rospy import moveit_commander import moveit_msgs.msg import geometry_msgs.msg 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") ...