/play_motion2

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/play_motion2 Quick Facts

Category

👋 Gestures and motions

Message type

play_motion2_msgs/action/PlayMotion2

Allows executing simultaneous trajectories in multiple groups of joints.

SERVER

• play_motion2

Quick snippets

Send a goal from the command-line

$ ros2 action send_goal /play_motion2 play_motion2_msgs/action/PlayMotion2 # press Tab to complete the message prototype

How to use in your code

PythonC++

Call the action from a Python script

#!/usr/bin/env python

import rclpy
from rclpy.action import ActionClient
from rclpy.node import Node

from play_motion2_msgs.action import PlayMotion2

class PlayMotion2ActionClient(Node):

    def __init__(self):
        super().__init__('play_motion2_client')
        self._action_client = ActionClient(self, PlayMotion2, '/play_motion2')

    def send_goal(self, a, b):
        goal_msg = PlayMotion2.Goal()

        # TODO: adapt to the action's parameters
        # check https://github.com/pal-robotics/play_motion2/tree/humble-devel/play_motion2_msgs/action/PlayMotion2.action
        # for the possible goal parameters
        # goal_msg.a = a
        # goal_msg.b = b

        self._action_client.wait_for_server()

        return self._action_client.send_goal_async(goal_msg)

if __name__ == '__main__':
    rclpy.init(args=args)

    action_client = PlayMotion2ActionClient()

    # TODO: adapt to your action's parameters
    future = action_client.send_goal(a, b)

    rclpy.spin_until_future_complete(action_client, future)

    rclpy.shutdown()