Move

This state allows you to execute an already computed motion plan. As long as the provided plan is of the same type as a MoveIt! plan (i.e. RobotTrajectory), this state can execute them so that the robot moves.

Outcomes

This state has two outcomes: success (green socket) and failure (red socket). If the configuration of the state is wrong, or if the JointTrajectory cannot be executed by MoveIt!, failure is returned. Return the other outcome if the operation is successful.

How to configure

Once dropped in the task editor, you should see one or two parameters appear in the state:

• group_name: Name of the MoveIt! group that should execute the given plan. This slot will not appear if only one group is defined.

• plan_name: Name of the trajectory to execute. By default, will look for it inside the userdata. If not found, will be retrieved from the corresponding manager. If left empty, execute the last plan computed by MoveIt! for the given group.

Example of use

You can find a concrete example of how to use this state, here.