03_plan_motion_ros_loader.py

import math
from compas.geometry import Frame
from compas_fab.backends import RosClient
from compas_fab.robots import Configuration

with RosClient('localhost') as client:
    robot = client.load_robot()
    group = robot.main_group_name

    frame = Frame([0.4, 0.3, 0.4], [0, 1, 0], [0, 0, 1])
    tolerance_position = 0.001
    tolerance_axes = [math.radians(1)] * 3

    start_configuration = Configuration.from_revolute_values([-0.042, 4.295, 0, -3.327, 4.755, 0.])

    # create goal constraints from frame
    goal_constraints = robot.constraints_from_frame(frame,
                                                    tolerance_position,
                                                    tolerance_axes,
                                                    group)

    trajectory = robot.plan_motion(goal_constraints,
                                   start_configuration,
                                   group,
                                   options=dict(planner_id='RRT'))

    print("Computed kinematic path with %d configurations." % len(trajectory.points))
    print("Executing this path at full speed would take approx. %.3f seconds." % trajectory.time_from_start)