The plugin allows you to view information about media files (codec, bit rate, duration, EXIF, etc.). When planning for the arm the bounds are only used to determine if the sampled configurations are valid.Simple audio player based on the BASS library. This is fine because sampling is not done in this volume We use a bound that definitely includes the reachable space for the arm. Note: a default bound is automatically filled by the WorkspaceBounds request adapter (part of the OMPL pipeline,īut that is not being used in this example).
Imposing path constraints requires the planner to reason in the space of possible positions of the end-effectorīecause of this, we need to specify a bound for the allowed planning volume as well path_constraints = kinematic_constraints :: constructGoalConstraints ( "r_wrist_roll_link", quaternion ) Here, we are asking for the end-effector to stay level*/ geometry_msgs :: QuaternionStamped quaternion quaternion. push_back ( pose_goal_2 ) /* But, let's impose a path constraint on the motion. positions ) /* Now, let's try to move to this new pose goal*/ req. setJointGroupPositions ( joint_model_group, response. z = - 0.1 moveit_msgs :: Constraints pose_goal_2 = kinematic_constraints :: constructGoalConstraints ( "r_wrist_roll_link", pose, tolerance_pose, tolerance_angle ) /* First, set the state in the planning scene to the final state of the last plan */ robot_state. getMessage ( response ) display_trajectory. error_code_ ) context -> solve ( res ) res. push_back ( pose_goal ) context = planner_instance -> getPlanningContext ( planning_scene, req, res. positions ) /* Now, we go back to the first goal*/ req. But first, set the state in the planning scene to the final state of the last plan */ robot_state. publish ( display_trajectory ) /* We will add more goals. trajectory ) /* Now you should see two planned trajectories in series*/ display_publisher. getParam ( "planning_plugin", planner_plugin_name )) ROS_FATAL_STREAM ( "Could not find planner plugin name" ) try /* Visualize the trajectory */ ROS_INFO ( "Visualizing the trajectory" ) res.
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