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