def create_basic_mp_position_request( planning_frame, link_name, target_point_offset, planner_id): motion_plan_request = MotionPlanRequest() motion_plan_request.group_name = move_group motion_plan_request.num_planning_attempts = 1 motion_plan_request.allowed_planning_time = 5.0 motion_plan_request.workspace_parameters = WorkspaceParameters() motion_plan_request.max_velocity_scaling_factor = 0.5 motion_plan_request.max_acceleration_scaling_factor = 0.5 motion_plan_request.planner_id = planner_id position_constraints = [] position_constraint = PositionConstraint() header = std_msgs.msg.Header() header.frame_id = planning_frame position_constraint.header = header position_constraint.link_name = link_name position_constraint.target_point_offset = target_point_offset position_constraints = [position_constraint] constraint = Constraints() constraint.position_constraints = position_constraints constraints = [constraint] motion_plan_request.goal_constraints = constraints return motion_plan_request
def get_constraints(self, move_group): ''' Creates a Constraints structure for the specified move_group based on current stored information. @param move_group : string specifying a particular move group ''' constraints = Constraints() constraints.joint_constraints = self.get_joint_constraints(move_group) constraints.position_constraints = self.get_position_constraints(move_group) constraints.orientation_constraints = self.get_orientation_constraints(move_group) constraints.visibility_constraints = self.get_visibility_constraints(move_group) return constraints