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()