MoveIt Commander

Overview
The moveit_commander Python package offers wrappers for the functionality provided in MoveIt!. Simple interfaces are available for motion planning, computation of Cartesian paths, pick & place.

Command Line Tool
The moveit_commander package also includes a command line tool for controlling the robot.

The command above will start a command line interface tool that allows you to connect to a running instance of the move_group node. The first command you should type is:

This will connect to the move_group node for the group name you specified. You can now execute commands on that group. For example:

will show you the current state of your group. To record that state under a specific name you can simply type:

This will remember the current joint values of the robot group under the name c. To get the robot to move, you could for example:

Matlab-like syntax is available for modifying joint values. The code above copies the joint values of c into a new variable names goal. We then modify the first joint of goal to 0.2. You may need to use a different value instead of 0.2 (it needs to be within your allowes bounds and not cause collisions). The go command plans a motion and executes it.

Instead of calling go you could also do but that is slightly less efficient. The advantage is that the plan command allows you to visualize the computed motion plan in rviz before you actually issue the execute command.

For a list of supported commands, please type help.