moveit_task_constructor/demo/scripts/current_state.py
2024-07-13 03:03:44 +02:00

25 lines
476 B
Python
Executable File

#! /usr/bin/env python3
# -*- coding: utf-8 -*-
from moveit.task_constructor import core, stages
import rclcpp
import time
rclcpp.init()
node = rclcpp.Node("mtc_tutorial")
# Create a task
task = core.Task()
task.name = "current state"
task.loadRobotModel(node)
# 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)