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

[Advait Jain]

Thanks Sachin.

In case other people are also interested in using move_arm from
python, my python equivalent for the MoveArmPoseGoalComplex
tutorial is at -

http://code.google.com/p/gt-ros-pkg/source/browse/trunk/hrl/hrl_simple_arm_goals/src/hrl_simple_arm_goals/move_arm_pose_goal.py

It does the same thing as the C++ tutorial (in simulation).

Advait


On Mon, May 17, 2010 at 1:12 AM, Sachin Chitta <sachinc at willowgarage.com> wrote:
> 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
> (http://www.ros.org/wiki/actionlib_tutorials/Tutorials/Writing%20a%20Simple%20Action%20Client%20%28Python%29).
>
> I will be happy to accept a python version of the helper functions though :-)
>
> Sachin
>
> 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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