Add a comment to waypoints in the Cartesian Path chapter #94
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…from making my same mistake of adding the group.get_current_pose().pose as a first waypoint, when working with a non-simulated robot
v4hn
reviewed
Mar 16, 2018
| @@ -186,7 +186,9 @@ def move_group_python_interface_tutorial(): | |||
| ## for the end-effector to go through. | |||
| waypoints = [] | |||
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| # start with the current pose | |||
| # start with the current pose, only for rviz simulation. Remove this step if working | |||
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There is no "RViz simulation".
You are talking about the MoveIt's demo(.launch) mode, aren't you?
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Edit some comments in the Cartesian Paths chapter, to prevent others from making my same mistake of adding the group.get_current_pose().pose as a first waypoint, when working with a non-simulated robot.
As can be seen in multiple stackoverflow questions, like this one, this has been a cause for some head-scratching..