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Add a comment to waypoints in the Cartesian Path chapter #94

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Add a comment to waypoints in the Cartesian Path chapter #94

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4 changes: 3 additions & 1 deletion pr2_moveit_tutorials/planning/scripts/move_group_python_interface_tutorial.py
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Expand Up @@ -186,7 +186,9 @@ def move_group_python_interface_tutorial():
## for the end-effector to go through.
waypoints = []

# start with the current pose
# start with the current pose, only for rviz simulation. Remove this step if working
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There is no "RViz simulation".
You are talking about the MoveIt's demo(.launch) mode, aren't you?

# with a real robot, or group.compute_cartesian_path() will complain about "Trajectory
# message contains waypoints that are not strictly increasing in time".
waypoints.append(group.get_current_pose().pose)

# first orient gripper and move forward (+x)
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