def parseSRDF(self):
ri = RobotInterface("/robot_description")
planning_groups = {}
for g in ri.get_group_names():
#self.planning_groups_tips[g] = ri.get_group_joint_tips(g)
self.planning_groups_tips[g] = ['tool0']
planning_groups[g] = [
"/rviz/moveit/move_marker/goal_" + l
for l in self.planning_groups_tips[g]
]
print("\nPlanning_groups: ")
print(planning_groups)
for name in planning_groups.keys():
if len(planning_groups[name]) == 0:
del planning_groups[name]
else:
print(name, planning_groups[name])
self.planning_groups = planning_groups
self.planning_groups_keys = planning_groups.keys(
) #we'd like to store the 'order'
print("\nself.planning_groups: ")
print(self.planning_groups_keys)
self.frame_id = ri.get_planning_frame()
def parseSRDF(self):
ri = RobotInterface("/robot_description")
planning_groups = {}
for g in ri.get_group_names():
self.planning_groups_tips[g] = ri.get_group_joint_tips(g)
planning_groups[g] = ["/rviz/moveit/move_marker/goal_" + l
for l in self.planning_groups_tips[g]]
for name in planning_groups.keys():
if len(planning_groups[name]) == 0:
del planning_groups[name]
else:
print name, planning_groups[name]
self.planning_groups = planning_groups
self.planning_groups_keys = planning_groups.keys() #we'd like to store the 'order'
self.frame_id = ri.get_planning_frame()
def parseSRDF(self):
ri = RobotInterface("/robot_description")
planning_groups = {}
for g in ri.get_group_names():
self.planning_groups_tips[g] = ri.get_group_joint_tips(g)
if len(self.planning_groups_tips[g]) > 0:
planning_groups[g] = [
"/rviz/moveit/move_marker/goal_" + l
for l in self.planning_groups_tips[g]
]
for name in planning_groups.keys():
print(name, planning_groups[name])
self.planning_groups = planning_groups
self.planning_groups_keys = list(
planning_groups.keys()) # we'd like to store the 'order'
self.frame_id = ri.get_planning_frame()
def parseSRDF(self):
ri = RobotInterface("/robot_description")
planning_groups = {}
rospy.loginfo("-- we will parse srdf:")
for g in ri.get_group_names():
rospy.loginfo(g)
self.planning_groups_tips[g] = ri.get_group_joint_tips(g)
planning_groups[g] = ["/rviz/moveit/move_marker/goal_" + l
for l in self.planning_groups_tips[g]]
rospy.loginfo("-- we will check keys:")
for name in planning_groups.keys():
rospy.loginfo(name)
if len(planning_groups[name]) == 0:
del planning_groups[name]
else:
print(name, planning_groups[name])
self.planning_groups = planning_groups
self.planning_groups_keys = planning_groups.keys() #we'd like to store the 'order'
self.frame_id = ri.get_planning_frame()
def parseSRDF(self):
ri = RobotInterface("/robot_description")
planning_groups = {}
for g in ri.get_group_names():
# print("ici que ca plante")
# print(ri.get_group_names())
#self.planning_groups_tips[g] = ri.get_group_joint_tips(g)
self.planning_groups_tips[g] = ["tool0"]
# planning_groups[g] = ["/rviz/moveit/move_marker/goal_" + l
# for l in self.planning_groups_tips[g]]
planning_groups[g] = ["/rviz/moveit/move_marker/goal_tool0"]
for name in planning_groups.keys():
if len(planning_groups[name]) == 0:
del planning_groups[name]
else:
print(name, planning_groups[name])
self.planning_groups = planning_groups
self.planning_groups_keys = planning_groups.keys() #we'd like to store the 'order'
self.frame_id = ri.get_planning_frame()
def parseSRDF(self):
print "test"
ri = RobotInterface("/robot_description")
#print "test2"
planning_groups = {}
#for g in ri.get_group_names():
for g in ['ArmGroup']:
self.planning_groups_tips[g] = ri.get_group_joint_tips(g)
planning_groups[g] = [
"/rviz/moveit/move_marker/goal_" + l
for l in self.planning_groups_tips[g]
]
for name in planning_groups.keys():
if len(planning_groups[name]) == 0:
del planning_groups[name]
else:
print name, planning_groups[name]
self.planning_groups = planning_groups
self.planning_groups_keys = planning_groups.keys(
) #we'd like to store the 'order'
self.frame_id = ri.get_planning_frame()
def parseSRDF(self):
ri = RobotInterface("/robot_description")
planning_groups = {}
for g in ri.get_group_names():
self.planning_groups_tips[g] = ri.get_group_joint_tips(g)
planning_groups[g] = [
"/rviz/moveit/move_marker/goal_" + l
for l in self.planning_groups_tips[g]
]
rospy.loginfo("planing group names = " +
str(ri.get_group_link_names(g)))
for name in planning_groups.keys():
if len(planning_groups[name]) == 0:
print name, planning_groups[name]
del planning_groups[name]
else:
print name, planning_groups[name]
self.planning_groups = planning_groups
self.planning_groups_keys = planning_groups.keys(
) #we'd like to store the 'order'
self.frame_id = ri.get_planning_frame()