No asyncExecute in Python wrapper? Difference between move/execute

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Yoan Mollard

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Mar 25, 2015, 7:27:06 AM3/25/15
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Hi all,


It looks like there is no way to call asyncExecute from the Moveit Python wrapper. Here is the code generating the shared object:
The python API:

I would like to add it through a modified MoveGroupCommander.execute(self, plan_msg, wait=True) method, however I'm not sure to understand the Python wrapping enough to do something clean, any suggestion regarding this subject?
Is there a way to use the asyncMove instead, which is actually present in the library? I am still a bit confused about the difference between move() and execute() methods.

Thanks,

Yoan Mollard
Research engineer – 3rd hand project

 INRIA Research center, Flowers lab

Yoan Mollard

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Mar 27, 2015, 9:22:29 AM3/27/15
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Hi again,


I have implemented this missing function dispatched in two pull requests:
* in moveit_commander https://github.com/ros-planning/moveit_commander/pull/30 (coming with 2 other former commits around the planning scene)
* in moveit_ros https://github.com/ros-planning/moveit_ros/pull/571

I am now able to call execute() asynchronously. However this method is implemented as a service call of "execute_kinematic_path" with srv moveit_msgs/ExecuteKnownTrajectory whose request contains a wait_for_execution parameter.
Thus it seems that there is now way to monitor the requested motion status, according to this topic. The srv moveit_msgs/ExecuteKnownTrajectory should not be a service but an action, however this change requires more work...

Yoan Mollard
Research engineer – 3rd hand project

 INRIA Research center, Flowers lab

From: "Yoan Mollard" <yoan.m...@inria.fr>
To: "moveit-users" <moveit...@googlegroups.com>
Sent: Wednesday, 25 March, 2015 12:26:52 PM
Subject: No asyncExecute in Python wrapper? Difference between move/execute


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