move_group_python_interface_tutorial.py

#!/usr/bin/env python
# move_group_python_interface_tutorial.py

## BEGIN_SUB_TUTORIAL imports
##
## To use the python interface to move_group, import the moveit_commander
## module.  We also import rospy and some messages that we will use.
import sys
import copy
import rospy
import moveit_commander
import moveit_msgs.msg
import geometry_msgs.msg
## END_SUB_TUTORIAL

from std_msgs.msg import String

def move_group_python_interface_tutorial():
  ## BEGIN_TUTORIAL
  ##
  ## Setup
  ## ^^^^^
  ## CALL_SUB_TUTORIAL imports
  ##
  ## First initialize moveit_commander and rospy.
  print "============ Starting tutorial setup"
  moveit_commander.roscpp_initialize(sys.argv)
  rospy.init_node('move_group_python_interface_tutorial',
                  anonymous=True)
  ## Instantiate a RobotCommander object.  This object is an interface to
  ## the robot as a whole.
  robot = moveit_commander.RobotCommander()

if __name__=='__main__':
  try:
    move_group_python_interface_tutorial()
  except rospy.ROSInterruptException:
    pass