调用命令:
rosrun baxter_moveit_config endpoint_trajectory_playback.py -f filename joint_states:=/robot/joint_states #此处filename为存储的末端轨迹数据的文件名
#!/usr/bin/env python
import rospy,sys
import argparse
import moveit_commander
import numpy as np
from geometry_msgs.msg import PoseStamped,Pose
from moveit_commander import MoveGroupCommander
import time
from copy import deepcopy
from os import path
class MoveItDemo:
def __init__ (self):
moveit_commander.roscpp_initialize(sys.argv)
self.left_arm = moveit_commander.MoveGroupCommander( 'left_arm')
self.right_arm = moveit_commander.MoveGroupCommander('right_arm')
self.right_eef = self.right_arm.get_end_effector_link()
self.left_eef = self.left_arm.get_end_effector_link()
self.right_arm.allow_replanning(True)
self.left_arm.allow_replanning(T