moveit_task_constructor/demo/scripts/current_state.py
2023-02-15 17:05:25 +01:00

22 lines
472 B
Python
Executable File

#! /usr/bin/env python
# -*- coding: utf-8 -*-
from moveit.task_constructor import core, stages
from moveit_commander.roscpp_initializer import roscpp_initialize
import time
roscpp_initialize("mtc_tutorial_current_state")
# Create a task
task = core.Task()
# Get the current robot state
currentState = stages.CurrentState("current state")
# Add the stage to the task hierarchy
task.add(currentState)
if task.plan():
task.publish(task.solutions[0])
time.sleep(1)