Easy Access to robot poses created using the MoveIt! Setup Assistant

Question

Consider that I have set 3 different poses for my robot with different names and different joint values.

Now while using the MoveIt Setup Assistant I can add the 3 poses under the tab Robot Posesand click the button MoveIt! at the bottom of the Setup Assistant screen to see the robot change the poses.

I want to know how I can easily switch between the 3 poses when I am using the move_group_interface and the RViz plugin.

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Originally posted by R.Mehra on ROS Answers with karma: 49 on 2017-01-31

Post score: 0

Answer 1

Those poses are called named targets.

Using them in C++: moveit::planning_interface::MoveGroup::setNamedTarget(const std::string &name).

In the RViz planning plugin: select them from the drop-down under Select Goal State on the Planning tab.

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Originally posted by gvdhoorn with karma: 86574 on 2017-01-31

This answer was ACCEPTED on the original site

Post score: 3

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Original comments

Comment by Jasmin on 2019-09-10:
Is there a way to do the same thing with Python?

Comment by gvdhoorn on 2019-09-10:
I believe it was added in ros-planning/moveit#1300.

Comment by Jasmin on 2019-09-10:
Perfect! thank you @gvdhoorn .