Hello, I'm using Moveit and Rviz to move my robot.
I wrote a simple code to use the Pick and Place.
My pick works very well, but my Place don't.
Do you have any idea ?
I'm under Hydro.
And I have this error :
Fail: ABORTED: Must specify group in motion plan request
Here is my code.
import sys
import rospy
from moveit_commander import RobotCommander, MoveGroupCommander
from moveit_commander import PlanningSceneInterface, roscpp_initialize, roscpp_shutdown
from geometry_msgs.msg import PoseStamped, Pose
from moveit_msgs.msg import Grasp, GripperTranslation, PlaceLocation
from trajectory_msgs.msg import JointTrajectoryPoint
if __name__=='__main__':
roscpp_initialize(sys.argv)
rospy.init_node('moveit_py_demo', anonymous=True)
scene = PlanningSceneInterface()
robot = RobotCommander()
right_arm = MoveGroupCommander("right_arm")
end_effector_link = right_arm.get_end_effector_link()
print "======= PICK"
right_arm.pick("part")
rospy.sleep(2)
p = PoseStamped()
p.header.frame_id = "base_footprint"
p.pose.position.x = 0.8
p.pose.position.y = -0.3
p.pose.position.z = 0.7
p.pose.orientation.w = 1.0
print "======= PLACE"
right_arm.place("part",p)
↧