Move Arm to Wait Position¶

The '''MoveGroup''' class in '''moveit''' allows us to move the robot in various ways. With '''MoveGroup''' it is possible to move to a desired joint position, cartesian goal or a predefined pose created with the Setup Assistant. In this exercise, we will move the robot to a predefined joint pose.

Locate Function¶

In the main program , locate the method call to '''application.move_to_wait_position()'''.
Go to the source file of that function by clicking in any part of the function and pressing "F3".
Alternatively, browse to the file in '''[Source directory]/src/tasks/move_to_wait_position.cpp'''.
Remove the fist line containing the following '''ROS_ERROR_STREAM ...''' so that the program runs.

Complete Code¶

Find every line that begins with the comment "''Fill Code: ''" and read the description. Then, replace every instance of the comment "''ENTER CODE HERE''"with the appropriate line of code

/* Fill Code: 
     .
     .
     .
*/
/* ========  ENTER CODE HERE ======== */

The name of the predefined "wait" pose was saved in the global variable '''cfg.WAIT_POSE_NAME''' during initialization.

Build Code and Run¶

Compile the pick and place node in Eclipse

Project -> Build Project

Alternatively, in a terminal cd into the '''demo_manipulation''' directory and do the following

catkin build --cmake-args -G 'CodeBlocks - Unix Makefiles' --pkg collision_avoidance_pick_and_place
source ./devel/setup.bash

Run your node with the launch file:

roslaunch collision_avoidance_pick_and_place ur5_pick_and_place.launch

If the robot is not already in the wait position, it should move to the wait position. In the terminal, you will see something like the following message:

[ INFO] [1400553673.460328538]: Move wait Succeeded
[ERROR] [1400553673.460434627]: set_gripper is not implemented yet.  Aborting.

API References¶

setNamedTarget()

move()

Open Source Feedback

See something that needs improvement? Please open a pull request on this GitHub page