Move Home

In this exercise, we’ll be using MoveIt! in order to move the arm.

Locate Exercise Source File

  • Go to the main application source file located in plan_and_run/src/plan_and_run_node.cpp.
  • In the main program , locate the function call to application.moveHome().
  • Go to the source file for that function located in the plan_and_run/src/tasks/move_home.cpp.
    • Alternatively, in QTCreator, click on any part of the function and press “F2” to bring up that file.
  • Comment out the first line containing the ROS_ERROR_STREAM( ... entry so that the function doesn’t quit immediately.

Complete Code

  • Use the MoveGroupInterface::move() method in order to move the robot to a target.
  • The moveit_msgs::MoveItErrorCodes structure contains constants that you can use to check the result after calling the move() function.
  • Find comment block that starts with /* Fill Code: and complete as described.
  • Replace every instance of [ COMPLETE HERE ] accordingly.

Build Code and Run

  • cd into your catkin workspace and run catkin build
  • Then run the application launch file:
roslaunch plan_and_run demo_run.launch