move_group.py 文件源码

def go(self, joints = None, wait = True):
        """ Set the target of the group and then move the group to the specified target """
        if type(joints) is bool:
            wait = joints
            joints = None

        elif type(joints) is JointState:
            self.set_joint_value_target(joints)

        elif type(joints) is Pose:
            self.set_pose_target(joints)

        elif not joints == None:
            try:
                self.set_joint_value_target(self.get_remembered_joint_values()[joints])
            except:
                self.set_joint_value_target(joints)
        if wait:
            return self._g.move()
        else:
            return self._g.async_move()