[I] Custom Predefined Poses

The default file for predefined poses is luh_youbot_poses/poses/poses.yaml. You should not edit this file directly, because modifications might affect other applications. Pose files can be edited with the youBot GUI (luh_youbot_gui).

The best way to use custom poses is to create your own pose file. Use the GUI to save all the poses you need and save the file e.g. in your_package/poses/poses.yaml. The controller node gets the pose file location from a parameter and loads the poses on startup. So all you need to do is to set the parameter /luh_youbot_controller/poses_file to the location of your own pose file. Following the previous tutorial, your launchfile might look like this:

<launch>
	<arg name="youBotHasBase" default="true"/>
	<arg name="youBotHasArm" default="true"/>
 
        <!-- LOAD DEFAULT DRIVER PARAMETERS -->
        <include file="$(find luh_youbot_driver_api)/launch/load_default_parameters.launch">
                <arg name="youBotHasArm" value="$(arg youBotHasArm)"/>
                <arg name="youBotHasBase" value="$(arg youBotHasBase)"/>
        </include>
 
	<!-- LOAD DEFAULT CONTROLLER PARAMETERS -->
	<include file="$(find luh_youbot_controller)/launch/load_default_parameters.launch" />
 
        <!-- DEFINE POSES.YAML LOCATION -->
        <param name="luh_youbot_controller/poses_file" value="$(find your_package)/poses/poses.yaml" />
 
        <!-- LAUNCH STATE PUBLISHER -->
        <include file="$(find luh_youbot_controller)/launch/youbot_state_publisher.launch">
                <arg name="youBotHasArm" value="$(arg youBotHasArm)"/>
                <arg name="youBotHasBase" value="$(arg youBotHasBase)"/>
        </include>
 
       	<!-- LAUNCH CONTROLLER NODE -->
	<node name="controller_node" pkg="luh_youbot_controller" type="controller_node" output="screen" />
 
</launch>

Now you can use your own custom poses with the Controller API.

arm.moveToPose("MY_POSE");