move_group.py 文件源码

def set_start_state(self, msg):
        """
        Specify a start state for the group.

        Parameters
        ----------
        msg : moveit_msgs/RobotState

        Examples
        --------
        >>> from moveit_msgs.msg import RobotState
        >>> from sensor_msgs.msg import JointState
        >>> joint_state = JointState()
        >>> joint_state.header = Header()
        >>> joint_state.header.stamp = rospy.Time.now()
        >>> joint_state.name = ['joint_a', 'joint_b']
        >>> joint_state.position = [0.17, 0.34]
        >>> moveit_robot_state = RobotState()
        >>> moveit_robot_state.joint_state = joint_state
        >>> group.set_start_state(moveit_robot_state)
        """
        self._g.set_start_state(conversions.msg_to_string(msg))