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Here is an example of how to use path constraints (here orientation constraints) with Moveit in Python:

def init_upright_path_constraints(self,pose):

    self.upright_constraints = Constraints()
    self.upright_constraints.name = "upright"
    orientation_constraint = OrientationConstraint()
    orientation_constraint.header = pose.header
    orientation_constraint.link_name = self.arm.get_end_effector_link()
    orientation_constraint.orientation = pose.pose.orientation
    orientation_constraint.absolute_x_axis_tolerance = 0.4
    orientation_constraint.absolute_y_axis_tolerance = 0.4
    orientation_constraint.absolute_z_axis_tolerance = 0.4
    #orientation_constraint.absolute_z_axis_tolerance = 3.14 #ignore this axis
    orientation_constraint.weight = 1

    self.upright_constraints.orientation_constraints.append(orientation_constraint)


def enable_upright_path_constraints(self):
    self.arm.set_path_constraints(self.upright_constraints)

def disable_upright_path_constraints(self):
    self.arm.set_path_constraints(None)

Here is an example of how to use path constraints (here orientation constraints) with Moveit in Python:

from moveit_msgs.msg import RobotState, Constraints, OrientationConstraint

def init_upright_path_constraints(self,pose):

    self.upright_constraints = Constraints()
    self.upright_constraints.name = "upright"
    orientation_constraint = OrientationConstraint()
    orientation_constraint.header = pose.header
    orientation_constraint.link_name = self.arm.get_end_effector_link()
    orientation_constraint.orientation = pose.pose.orientation
    orientation_constraint.absolute_x_axis_tolerance = 0.4
    orientation_constraint.absolute_y_axis_tolerance = 0.4
    orientation_constraint.absolute_z_axis_tolerance = 0.4
    #orientation_constraint.absolute_z_axis_tolerance = 3.14 #ignore this axis
    orientation_constraint.weight = 1

    self.upright_constraints.orientation_constraints.append(orientation_constraint)


def enable_upright_path_constraints(self):
    self.arm.set_path_constraints(self.upright_constraints)

def disable_upright_path_constraints(self):
    self.arm.set_path_constraints(None)