Move Arm to Wait Position

The MoveGroup class in MoveIt! allows us to move the robot in various ways. With MoveGroup it is possible to move to a desired joint position, cartesian goal or a predefined pose created with the Setup Assistant. In this exercise, we will move the robot to a predefined joint pose.

Locate Function

  • In the main program , locate the method call to application.move_to_wait_position().
  • Go to the source file of that function by clicking in any part of the function and pressing “F2”.
  • Alternatively, browse to the file in [Source directory]/src/tasks/move_to_wait_position.cpp.
  • Remove the fist line containing the following ROS_ERROR_STREAM ... so that the program runs.

Complete Code

  • Find every line that begins with the comment Fill Code: and read the description. Then, replace every instance of the comment ENTER CODE HERE with the appropriate line of code
/* Fill Code:
     .
     .
     .
*/
/* ========  ENTER CODE HERE ======== */
  • The name of the predefined “wait” pose was saved in the global variable cfg.WAIT_POSE_NAME during initialization.

Build Code and Run

  • Compile the pick and place node:
    • in QTCreator: Build -> Build Project
    • Alternatively, in a terminal:
catkin build --cmake-args -G 'CodeBlocks - Unix Makefiles' --pkg collision_avoidance_pick_and_place
source ./devel/setup.bash
  • Run your node with the launch file:
roslaunch collision_avoidance_pick_and_place ur5_pick_and_place.launch
  • If the robot is not already in the wait position, it should move to the wait position. In the terminal, you will see something like the following message:
[ INFO] [1400553673.460328538]: Move wait Succeeded
[ERROR] [1400553673.460434627]: set_gripper is not implemented yet.  Aborting.

API References

setNamedTarget()

move()