moveit_planner_server¶
This node sets up a number of services that can be used to control
the Panda Emika Franka robot. It uses the MoveitPlannerServer
class to do this. The services that are set up by the moveit_planner_server
node are listed below. It contains two types of services: services that work
on the main_move group (by default the panda_arm group) and services
that work on the gripper move group.
Services¶
General services:
- visualize_plan: Visualizes a given plan.
Main_move_group services:
- execute_plan: Executes the plan that has been computed by any of the other planner services.
- plan_to_point: Plans to a given pose.
- plan_to_joint: Plans to a sequence of joint angles.
- plan_to_path: Plans for a given path.
- plan_random_pose: Computes a plan to a random pose.
- plan_random_joint: Computes a plan to a random sequence of joint angles.
- plan_random_path: Copmutes a plan to a random path.
Gripper move group services:
- open_gripper: Open the gripper. This service both plans and executes.
- close_gripper: Close the gripper. This both plans and executes.
- set_gripper_width: Set the gripper joint state targets to a certain width.
- set_gripper_open: Set the gripper joint state targets to open.
- set_gripper_closed: Set the gripper joint state targets to closed.
- execute_gripper_plan: Execute a previously computed plan.
- plan_gripper: Compute a plan for the currently set joint target. If no joint state targets are set no plan is computed.