/play_motion_builder_node/change_joints#
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/play_motion_builder_node/change_joints Quick Facts
- Category
- Message type
play_motion_builder_msgs/ChangeJoints
Quick snippets#
Call the service from command-line#
$ rosservice call /play_motion_builder_node/change_joints play_motion_builder_msgs/ChangeJoints
# (tip: press Tab to complete the message prototype)
How to use in your code#
Call the service from a Python script#
1#!/usr/bin/env python
2
3import rospy
4from play_motion_builder_msgs.srv import *
5
6if __name__ == "__main__":
7
8 rospy.wait_for_service("/play_motion_builder_node/change_joints")
9
10 try:
11 proxy = rospy.ServiceProxy("/play_motion_builder_node/change_joints", ChangeJoints)
12 response = proxy(args...) # check the play_motion_builder_msgs/ChangeJoints message type for the expected arguments
13 rospy.loginfo(response)
14
15 except rospy.ServiceException as e:
16 rospy.logerror("Service call failed: %s" % e)
Call the service from a C++ node#
1#include "ros/ros.h"
2#include <play_motion_builder_msgs/ChangeJoints.h>
3#include <iostream>
4
5using namespace ros;
6
7int main(int argc, char **argv)
8{
9 ros::init(argc, argv, "play_motion_builder_node/change_joints_client");
10
11 NodeHandle n;
12 ServiceClient client = n.serviceClient<play_motion_builder_msgs::ChangeJoints>("/play_motion_builder_node/change_joints");
13 play_motion_builder_msgs::ChangeJoints srv;
14
15 // TODO: adapt to the service parameters
16 // srv.request.a = ...;
17 // srv.request.b = ...;
18
19 if (client.call(srv))
20 {
21 // TODO: do something with the result
22 // srv.response....;
23 }
24 else
25 {
26 ROS_ERROR("Failed to call service /play_motion_builder_node/change_joints");
27 return 1;
28 }
29
30 return 0;
31}
You can also access this service from a webpage displayed on the robot’s touchscreen via this endpoint:
http://<robot>-0c/service/motion_builder_change_joints
(replace <robot>-0c by the serial number of your own robot).
See REST interface for the general documentation of the REST endpoints and code samples.