C++ (Cpp) MoveGroup::setNamedTarget示例

示例#1

文件： pick_and_place.cpp 项目： fivef/kate_apps

	int move_arm_out_of_the_way() {

		//set_joint_goal();

		//clear_collision_map();

		ROS_INFO("Move arm out of the way.");

		//move arm to initial home state as defined in the urdf
		group->setNamedTarget("home_stable");

		group->asyncMove();

		//clear_collision_map();

		ROS_INFO("Arm moved out of the way.");

		return 1;
	}

示例#2

文件： move_to_wait_position.cpp 项目： drchrislewis/industrial_training

void move_to_wait_position(move_group_interface::MoveGroup& move_group)
{
  //ROS_ERROR_STREAM("move_to_wait_position is not implemented yet.  Aborting."); exit(1);

  // task variables
  bool success; // saves the move result

  // set robot wait target
  /* Fill Code: [ use the 'setNamedTarget' method in the 'move_group' object] */
  move_group.setNamedTarget(cfg.WAIT_POSE_NAME);

  // move the robot
  /* Fill Code: [ use the 'move' method in the 'move_group' object and save the result in the 'success' variable] */
  success = move_group.move();
  if(success)
  {
    ROS_INFO_STREAM("Move " << cfg.WAIT_POSE_NAME<< " Succeeded");
  }
  else
  {
    ROS_ERROR_STREAM("Move " << cfg.WAIT_POSE_NAME<< " Failed");
    exit(1);
  }
}