[ros-users] move_arm tutorial - Moving the arm to a pose goal

Sachin Chitta sachinc at willowgarage.com
Mon May 17 05:12:48 UTC 2010

Hi Advait,

Yes, the helper functions are only in C++ right now. You will be able
to address the move_arm node directly from both C++ or python using
the underlying action API. Have a look at this tutorial for how you
can specify pose goals directly without needing the extra helper
functions (http://www.ros.org/wiki/move_arm/Tutorials/MoveArmPoseGoalComplex)

 I don't have python tutorials but you should be able to follow the
python tutorials for actions

I will be happy to accept a python version of the helper functions though :-)


On Sun, May 16, 2010 at 8:37 PM, Advait Jain <advait at cc.gatech.edu> wrote:
> I am trying to replicate the functionality of this tutorial from a
> python node -
> http://www.ros.org/wiki/move_arm/Tutorials/MoveArmPoseGoal
> It isn't clear to me if there is a python equivalent for this function:
> move_arm_msgs::addGoalConstraintToMoveArmGoal(desired_pose,goalA);
> Am I missing something or do I need to write my own python
> versions for addGoalConstraintToMoveArmGoal (C+ code in
> move_arm_msgs/utils.h) and
> poseConstraintToPositionOrientationConstraints
> (motion_planning_msgs/convert_messages.h) to use the
> move_arm package from python?
> Advait
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Sachin Chitta
Research Scientist
Willow Garage

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