play_motion

This tool is used to play pre-recorded motions on ros_control compliant robots via a simple actionlib interface. Any robot that implements control via joint_trajectory_controller can be put into motion with play_motion.

Starting from version 0.4, play_motion will by default compute a collision-free trajectory between the robot’s current state and the first motion waypoint. This requires your robot to have a running moveit setup, and to configure play_motion to use it. If you’re not interested in the motion planning capability, it’s possible to disable it altogether. Refer to the config/ folder for configuration examples.

How-to

1. Prepare one (or more!) motion. They need to be loaded as rosparams. You will find samples in the config/ folder.

   rosparam load config/your_motion_file.yaml
   

1. Launch play_motion (without motion planning capabilities, for simplicity)

   rosparam set /play_motion/disable_motion_planning true
   rosrun play_motion play_motion
   

1. Fire an actionlib client that publishes on /play_motion action server, enter the name of your motion on the motion_name field and set skip_planning=true to not use motion planning.

That’s it!

Changelog for package play_motion

0.4.15 (2023-05-29)

• Merge branch 'fix_invalid_initial_state' into 'erbium-devel' check for a valid initial state of the trajectory before executing the motion See merge request app-tools/play_motion!13
• added tests for invalid case
• check for a valid initial state of the trajectory before executing the motion
• Contributors: Jordan Palacios, Sai Kishor Kothakota

0.4.14 (2023-04-24)

• Merge branch 'fix_time_offset_for_multi_waypoints' into 'erbium-devel' fix the trajectory ofsetting that delays the trajectory See merge request app-tools/play_motion!12
• fix the trajectory ofsetting that delays the trajectory
• Contributors: Sai Kishor Kothakota

0.4.13 (2023-04-21)

0.4.12 (2023-04-21)

• Merge branch 'scale_approach_trajectory' into 'erbium-devel' Scale the approach trajectory to the given time, when the approach trajectory... See merge request app-tools/play_motion!11
• Scale the approach trajectory to the given time, when the approach trajectory is faster than expected
• Contributors: Jordan Palacios, Sai Kishor Kothakota

0.4.11 (2023-02-13)

• Update tests
• clean merge request
• update code style
• cleaned code
• updated move_joint_test.py
• removed printf statements
• remove redundant launch in move_joint.test
• Add tests
• Contributors: David ter Kuile

0.4.10 (2021-09-17)

• Fix test race condition
• Contributors: Victor Lopez

0.4.9 (2021-08-26)

• Merge branch 'gallium-fixes' into 'erbium-devel' Fix tests for gallium See merge request app-tools/play_motion!7
• Use robot_state_publisher instead of deprecated state_publisher
• Use xacro instead of deprecated xacro.py
• Merge branch 'revert_wait_for_server' into 'erbium-devel' Revert "Added waitForServer to the joint trajectory controller action client" Reverted because the waitForServer always fails since the Action Clients have no dedicated thread. This can cause that sending a goal right after controllers are changed or read for the first time, the goal will abort. See merge request app-tools/play_motion!8
• Revert "Added waitForServer to the joint trajectory controller action client" This reverts commit 24bff740e6e79723aedd618428cfda2daf0e58a5.
• Merge branch 'move_joint_wait_for_server' into 'erbium-devel' Added waitForServer to the joint trajectory controller action client See merge request app-tools/play_motion!6
• Added waitForServer to the joint trajectory controller action client
• Contributors: Jordan Palacios, Sai Kishor Kothakota, saikishor, victor

0.4.8 (2019-09-09)

• Fixes for shadowed variables
• Contributors: Jordan Palacios

0.4.7 (2019-05-22)

• Merge branch 'melodic_fixes' into 'erbium-devel' changes for melodic deprecated MoveGroup (was renamed to MoveGroupInterface) See merge request app-tools/play_motion!5
• changes for melodic deprecated MoveGroup (was renamed to MoveGroupInterface)
• Contributors: Sai Kishor Kothakota, Victor Lopez

0.4.6 (2018-09-28)

• Merge branch 'use-weak-ref' into 'erbium-devel' Fix error when changing controllers during a motion See merge request app-tools/play_motion!4
• Fix error when changing controllers during a motion
• Contributors: Victor Lopez

0.4.5 (2018-01-11)

• fixed merge
• 0.4.4
• updated changelog
• added missing joint trajectory controller for test
• added missing position_controllers test
• added missing xacro test depend

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