start_psm Namespace Reference

Functions
str	load_file_contents (str file_path)
	main ()

Detailed Description

Example demonstrating PlanningSceneMonitor initialization with URDF/SRDF strings.

This script shows how to:
- Load URDF and SRDF files from disk
- Create a PlanningSceneMonitor with robot description strings (no ROS parameters needed)
- Monitor joint states from ROS topics (optional, if controllers are running)
- Perform forward kinematics to get end effector poses
- Use thread-safe read-only access to the planning scene

Function Documentation

load_file_contents()

str start_psm.load_file_contents

(

str

file_path

)

Load the contents of a file.

Args:
    file_path: Path to the file to load.

Returns:
    The contents of the file as a string.

main()

start_psm.main

(

)

Initialize a PlanningSceneMonitor and query the robot's forward kinematics.