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made call to compute_cartesian_path more pythonic; added links to mov… #96

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made call to compute_cartesian_path more pythonic; added links to mov… #96

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f058750
made call to compute_cartesian_path more pythonic; added links to mov…
jwhendy Aug 3, 2017
ef5813a
Merge remote-tracking branch 'upstream/kinetic-devel' into python_tut…
jwhendy Aug 4, 2017
414be0c
Merge remote-tracking branch 'upstream/kinetic-devel' into python_tut…
jwhendy Aug 24, 2017
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12 changes: 7 additions & 5 deletions doc/pr2_tutorials/planning/scripts/doc/move_group_python_interface_tutorial.rst
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@@ -1,11 +1,13 @@
Move Group Python Interface Tutorial
================================================

In MoveIt!, the primary user interface is through the RobotCommander class. It
provides functionality for most operations that a user may want to carry out,
specifically setting joint or pose goals, creating motion plans, moving the
robot, adding objects into the environment and attaching/detaching objects from
the robot.
In MoveIt!, the primary user interface is through `the RobotCommander
and MoveGroupCommander classes
<http://docs.ros.org/kinetic/api/moveit_commander/html/namespacemoveit__commander.html>`_. It
provides functionality for most operations that a user may want to
carry out, specifically setting joint or pose goals, creating motion
plans, moving the robot, adding objects into the environment and
attaching/detaching objects from the robot.

.. tutorial-formatter:: ../move_group_python_interface_tutorial.py

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6 changes: 3 additions & 3 deletions doc/pr2_tutorials/planning/scripts/move_group_python_interface_tutorial.py
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Expand Up @@ -216,9 +216,9 @@ def move_group_python_interface_tutorial():
## translation. We will specify the jump threshold as 0.0, effectively
## disabling it.
(plan3, fraction) = group.compute_cartesian_path(
waypoints, # waypoints to follow
0.01, # eef_step
0.0) # jump_threshold
waypoints=waypoints,
eef_step=0.01,
jump_threshold=0.0)
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i love this!


print "============ Waiting while RVIZ displays plan3..."
rospy.sleep(5)
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