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
