Warehouse

For an example of how to use the warehouse, see the Saving/Importing From a Database section in the Environment_Representation/Rviz page.

Output All Contents of MoveIt Warehouse to File
To export queries from the MoveIt Warehouse, run:

rosrun moveit_ros_warehouse moveit_warehouse_save_as_text

In the same directory

Queries File Format
Each line contains a single piece of information about the query. Multiple queries are listed one after another, separated by a "." line.

Start State Query

 * Scene name
 * "start"
 * Number of state names
 * First state:
 * TODO

Goal Constraint Query

 * Scene name
 * "goal"
 * Number of constraints
 * First constraint:
 * "link_constraint"
 * Name of constraint
 * Name of link the constraint applies to
 * Position constraint (xyz)
 * Orientation constraint (rpy)