Hi, i am totally new to ROS. In exercise 5.2, we are required to make a new package my_motion_scripts. I tried running it and failed. May i know the exact method to make this package? Would be useful to include in the exercise as well for newbies like myself.
in my launch file “planning.launch”:
<node name = "planning_scripts_node_launch" pkg = "my_motion_scripts" type = "planning_script.py" output = "screen">
</node>
in my python file “planning_script.py”
#! /usr/bin/env python
import sys
import copy
import rospy
import moveit_commander
import moveit_msgs.msg
import geometry_msgs.msg
moveit_commander.roscpp_initialize(sys.argv)
rospy.init_node(‘move_group_python_interface_tutorial’, anonymous=True)
robot = moveit_commander.RobotCommander()
scene = moveit_commander.PlanningSceneInterface()
group = moveit_commander.MoveGroupCommander(“arm”)
display_trajectory_publisher = rospy.Publisher(‘/move_group/display_planned_path’, moveit_msgs.msg.DisplayTrajectory, queue_size=1)
pose_target = geometry_msgs.msg.Pose()
pose_target.orientation.w = 1.0
pose_target.position.x = 0.96
pose_target.position.y = 0
pose_target.position.z = 1.18
group.set_pose_target(pose_target)
plan1 = group.plan()
rospy.sleep(5)
moveit_commander.roscpp_shutdown()
