[MoveIt!] Save a calculated motion plan

Question

Hello there,

I wanted to know if there is any easy way of saving a plan object to disk or write it as a string.

E.g. you calculated a motion plan for your robot and the next time you load the simulation the same plan should be used for execution.

Couldn't find anything about that.

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Originally posted by F4bich on ROS Answers with karma: 79 on 2016-10-05

Post score: 0

Answer 1

Hi F4bich,

There is no standard way to write a motion plan to disk, but it is relatively easy to do using rosbags. Using the rosbag API (found here), it is very easy to store and read from disk.

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Originally posted by rbbg with karma: 1823 on 2016-10-05

This answer was ACCEPTED on the original site

Post score: 1