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!

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