Robot Operating System Cookbook

Planning a trajectory

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

$ roslaunch fetch_moveit_config fetch_planning_execution.launch

This command may vary depending on how you've named your MoveIt package and your launch file. In this example command, it is assumed that they're named fetch_moveit_config and fetch_planning_execution.launch, respectively:

#! /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 = ...