Play Motion

Play Motion#

The [play_motion] package in ROS is a tool designed to manage and execute predefined trajectories for robots,

It simplifies the process of programming complex motion behaviours by allowing users to define sequences of joint movements in YAML files and then execute these sequences through a simple interface.

Key Features:

  • Pre-defined Motions: Allows the definition of complex motion sequences in YAML files.

  • Easy Execution: Provides a simple way to trigger these motions via ROS actions or topics.

  • Synchronisation: Ensures smooth and coordinated execution of joint movements.

rosrun play_motion run_motion NAME_OF_THE_MOTION

To retrieve the available motions

rosparam get /play_motion/motions

All the motions are stored in kangaroo_bringup/config/kangaroo_motions.yaml

Tip

Play motion only plans a free-collision trajectory from the initial state to the first wayopint. The rest of movements are linear interpolated. Validate first that all the sequences between waypoints are not self-colliding by executing the motion in simulation first.

📹 Video Reference:#

Standing up motion:

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