BaseManipulation

Code Examples

Setting A Robots Manipulators To Default

 
baseManip = RaveCreateModule(penv, "BaseManipulation");
if(baseManip == NULL)
{
	ROS_FATAL("Was unable to create module BaseManipulation.  Check your $OPENRAVE_PLUGINS\n");
	return false;
}
penv->AddModule(baseManip, myRobot->GetName());
//Move our manipulators to default positions so they don't fall with physics...
stringstream sinput, soutput;
for(vector<RobotBase::ManipulatorPtr>::const_iterator myIt = myRobot->GetManipulators().begin();
	myIt != myRobot->GetManipulators().end(); myIt++)
{
	sinput.clear();
	sinput.str("");
	sinput << "MoveManipulator goal";
	for(unsigned int i = 0; i < (*myIt)->GetArmIndices().size(); i++)
		sinput << " 0";

	myRobot->SetActiveManipulator((*myIt)->GetName());
	baseManip->SendCommand(soutput, sinput);
}