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Specifying a start state

In previous tutorials, you were assuming that the current state of the robot (in simulation), is the start state that you want to plan from. You might want to plan a motion where you are able to explicitly specify the start state that you want to plan from. You will learn how to do that in this tutorial.

Filling the start state message

This tutorial follows on from the previous tutorial and all the code is the same except the part where you will fill in additional fields for the start state.

Here, for example, we will change the initial position of the r_shoulder_pan_joint by adding to the motion plan request.

   1    request.motion_plan_request.start_state.joint_state.name.push_back("r_shoulder_pan_joint");
   2   request.motion_plan_request.start_state.joint_state.position.push_back(-1.0);

Run it!

Now, run this using the procedure in the previous tutorial and you should see (in rviz) the plan starting from a different starting state than the current state of the robot.