Peng Chang

robot.get_current_state() does not publish current state when using moveit_commander.RobotCommander()

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Hello all,

I'm using Sawyer robot with moveIt planner. I used the "robot = moveit_commander.RobotCommander()" and "print robot.get_current_state()". The output is showing below (the joint states are 0s or empty):

============ Printing robot state
[ WARN] [1533160158.107494140]: Joint values for monitored state are requested but the full state is not known
joint_state:
  header:
    seq: 0
    stamp:
      secs: 0
      nsecs:         0
    frame_id: "/base"
  name: [right_j0, head_pan, right_j1, right_j2, right_j3, right_j4, right_j5, right_j6, right_gripper_l_finger_joint,
  right_gripper_r_finger_joint]
  position: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
  velocity: []
  effort: []
multi_dof_joint_state:
  header:
    seq: 0
    stamp:
      secs: 0
      nsecs:         0
    frame_id: "/base"
  joint_names: []
  transforms: []
  twist: []
  wrench: []
attached_collision_objects: []
is_diff: False

By the way, by referring to "https://groups.google.com/forum/#!topic/moveit-users/jKV9QuHeFXU", I tried to use "roslaunch sawyer_moveit_config sawyer_moveit.launch electric_gripper:=true joint_states:=/robot/joint_states" to remap the /robot/joint_states. It could not work either. Can you help me with that? Thank you.

Edited by Peng Chang

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In my case, when i use joint_states:=/robot/joint_states to remap it's work.

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