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[PR2] move arm with base movement #344

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furushchev opened this issue Apr 25, 2018 · 1 comment
Open

[PR2] move arm with base movement #344

furushchev opened this issue Apr 25, 2018 · 1 comment

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@furushchev
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furushchev commented Apr 25, 2018 •
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How to move arm with base?
@furushchev furushchev changed the title Pmove arm with base movement [PR2] move arm with base movement Apr 25, 2018
@furushchev
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furushchev commented Apr 25, 2018 •
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  1. Use Fix wrong behaviors in :go-pos-unsafe / :move-trajectory / :move-trajectory #336
  2. Send base command without waiting for result
(pr2-init)
(setq ac (pr2-interface-move-base-trajectory-action *ri*))
(setq goal (send *ri* :move-trajectory 1.0 0 pi 3000)) ;; forward 1.0m and rotate 180 degrees
(send ac :send-goal goal) ;; robot will start to move

CC: @takayuki5168

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