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Created initial code to control UR10e movement via MoveIt! API (MoveG…
…roup)
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,10 +1,48 @@ | ||
| #include <cstdio> | ||
| #include <memory> | ||
| #include <moveit/move_group_interface/move_group_interface.h> | ||
| #include <rclcpp/rclcpp.hpp> | ||
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||
| int main(int argc, char ** argv) | ||
| { | ||
| (void) argc; | ||
| (void) argv; | ||
| int main(int argc, char *argv[]) { | ||
| // Initialize ROS and create the Node | ||
| rclcpp::init(argc, argv); | ||
| auto const node = std::make_shared<rclcpp::Node>( | ||
| "csv_control", | ||
| rclcpp::NodeOptions().automatically_declare_parameters_from_overrides( | ||
| true)); | ||
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| printf("hello world ur10e_control package\n"); | ||
| // Create a ROS logger | ||
| auto const logger = rclcpp::get_logger("csv_control"); | ||
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|
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| // Create the MoveIt MoveGroup Interface | ||
| using moveit::planning_interface::MoveGroupInterface; | ||
| auto move_group_interface = MoveGroupInterface(node, "ur10e_arm"); | ||
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| // Set a target Pose | ||
| auto const target_pose = [] { | ||
| geometry_msgs::msg::Pose msg; | ||
| msg.orientation.w = 1.0; | ||
| msg.position.x = 0.28; | ||
| msg.position.y = -0.2; | ||
| msg.position.z = 0.5; | ||
| return msg; | ||
| }(); | ||
| move_group_interface.setPoseTarget(target_pose); | ||
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| // Create a plan to that target pose | ||
| auto const [success, plan] = [&move_group_interface] { | ||
| moveit::planning_interface::MoveGroupInterface::Plan msg; | ||
| auto const ok = static_cast<bool>(move_group_interface.plan(msg)); | ||
| return std::make_pair(ok, msg); | ||
| }(); | ||
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| // Execute the plan | ||
| if (success) { | ||
| move_group_interface.execute(plan); | ||
| } else { | ||
| RCLCPP_ERROR(logger, "Planning failed!"); | ||
| } | ||
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| // Shutdown ROS | ||
| rclcpp::shutdown(); | ||
| return 0; | ||
| } | ||
| } |
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