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 in QtCreator.

  • Alternatively, browse to the file at

    [workspace source directory]/collision_avoidance_pick_and_place/src/tasks/move_to_wait_position.cpp

  • Remove the first 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 collision_avoidance_pick_and_place
source ./devel/setup.bash

  • Run the supporting nodes with the launch file:

    roslaunch collision_avoidance_pick_and_place ur5_setup.launch

  • In another terminal, 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