Moveit2Python

The Moveit2Python class provides the core MoveIt2 interface for motion planning and execution. This is the low-level API that interfaces directly with MoveIt2 services and actions.

class moveit2_sdk_python.moveit2_sdk_python.Moveit2Python(base_frame, ee_frame, group_name)[source]

Bases: object

Initialize the Moveit2Python class.

Parameters:

  • base_frame (str) – The name of the base frame of the robot.

  • ee_frame (str) – The name of the end-effector frame of the robot.

  • group_name (str) – The name of the move group to control.

__init__(base_frame, ee_frame, group_name)[source]

Initialize the Moveit2Python class.

Parameters:

  • base_frame (str) – The name of the base frame of the robot.

  • ee_frame (str) – The name of the end-effector frame of the robot.

  • group_name (str) – The name of the move group to control.

__del__()[source]

Clean up resources when the Moveit2Python object is deleted.

This method shuts down the ROS 2 node, joins the node spinning thread, destroys the node, and attempts to shut down RCLPY.

spin_node()[source]

Spin the ROS 2 node to process callbacks.

This method checks if RCLPY is initialized, initializes it if not, and then spins the node using the configured executor. This method is typically run in a separate thread.

sub_joint_state_callback(msg: <MagicMock id='140299215925744'>)[source]

Callback function for the joint state subscriber.

Updates the internal robot_state with the received joint state message.

Parameters:

msg (JointState) – The received JointState message.

async move_group(names, positions)[source]

Move the robot to a specified joint configuration.

Parameters:

  • names (list[str]) – A list of joint names.

  • positions (list[float]) – A list of corresponding joint positions.

Returns:

The result of the MoveGroup action.

Return type:

any

async get_cartesian_path(waypoints: list[<MagicMock id='140299213116208'>])[source]

Compute a Cartesian path through a list of waypoints.

Parameters:

waypoints (list[Pose]) – A list of Pose messages representing the waypoints.

Returns:

The computed robot trajectory (solution) or None if planning failed.

Return type:

RobotTrajectory or None

async execute_trajectory(trajectory: <MagicMock id='140299214982640'>)[source]

Execute a pre-computed robot trajectory.

Parameters:

trajectory (RobotTrajectory) – The RobotTrajectory message to execute.

Returns:

The result of the ExecuteTrajectory action.

Return type:

any