I'm trying to add an orientation constraint to the moveit database so I can use it for benchmarking afterward.
My current steps are:
1. Start my moveit/rviz launch file (equivalent to the default *demo.launch* of the moveit setup assistant) with the `db:=true` argument.
2. Connect to the database in rviz
3. Start my python script where I use the *moveit_commander*. The most important steps are:
moveit_commander.roscpp_initialize(sys.argv)
self.robot = moveit_commander.RobotCommander()
self.scene = moveit_commander.PlanningSceneInterface()
self.move_group = moveit_commander.MoveGroupCommander('box_gripper')
self.move_group.set_constraints_database(
'127.0.0.1', 33829)
constraint = Constraints()
constraint.name = "tilt constraint"
tilt_constraint = OrientationConstraint()
tilt_constraint.header.frame_id = "base_link"
tilt_constraint.link_name = "box_gripper_link"
tilt_constraint.orientation = Quaternion(0.5, 0.5, 0.5, 0.5)
tilt_constraint.absolute_x_axis_tolerance = pi / 3
tilt_constraint.absolute_y_axis_tolerance = pi
tilt_constraint.absolute_z_axis_tolerance = pi / 4
tilt_constraint.weight = 1
constraint.orientation_constraints = [tilt_constraint]
self.move_group.set_path_constraints(constraint)
During these steps, I get no errors but the constraint doesn't appear in the rviz drop-down list.
Are there some steps missing?
Or is it not possible at all with the *moveit_commadner*?
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