panda_moveit_server

This node sets up several extra services that can be used to control the Panda Emika Franka robot using the MoveIt framework.

Source code

 1
 2from panda_gazebo.core.moveit_server import PandaMoveItPlannerServer
 3
 4if __name__ == "__main__":
 5    rospy.init_node("panda_moveit_planner_server")
 6
 7    # Get private parameters specified in the launch file.
 8    try:
 9        arm_ee_link = rospy.get_param("~end_effector")
10    except KeyError:
11        arm_ee_link = "panda_link8"
12    try:
13        load_gripper = rospy.get_param("~load_gripper")
14    except KeyError:
15        load_gripper = True
16    try:  # Check if set ee pose service should be loaded.
17        load_set_ee_pose_service = rospy.get_param("~load_set_ee_pose_service")
18    except KeyError:
19        load_set_ee_pose_service = True
20    try:  # Check if extra services should be loaded.
21        load_extra_services = rospy.get_param("~load_extra_services")
22    except KeyError:
23        load_extra_services = False
24
25    # Start MoveIt planner server.
26    moveit_planner_server = PandaMoveItPlannerServer(
27        arm_ee_link=arm_ee_link,
28        load_gripper=load_gripper,
29        load_set_ee_pose_service=load_set_ee_pose_service,
30        load_extra_services=load_extra_services,
31    )
32    rospy.spin()  # Maintain the service open.

Module Contents