From 7bf2f541a74440a7eaed82ae474e53b7e7f96e4d Mon Sep 17 00:00:00 2001
From: Peter Mitrano <mitranopeter@gmail.com>
Date: Mon, 19 Jul 2021 16:12:34 -0400
Subject: [PATCH] fix imports
---
.../src/planning_scene_tutorial.py | 17 ++++++++++-------
1 file changed, 10 insertions(+), 7 deletions(-)
diff --git a/doc/planning_scene_python/src/planning_scene_tutorial.py b/doc/planning_scene_python/src/planning_scene_tutorial.py
index cd6901ad5..eca6bcad0 100755
--- a/doc/planning_scene_python/src/planning_scene_tutorial.py
+++ b/doc/planning_scene_python/src/planning_scene_tutorial.py
@@ -1,10 +1,8 @@
#!/usr/bin/env python
import sys
+import rospy
def main():
- rospy.init_node("planning_scene_tutorial")
- moveit_commander.roscpp_initialize(sys.argv)
-
# BEGIN_TUTORIAL
#
# Setup
@@ -19,13 +17,18 @@ def main():
# using data from the robot's joints and the sensors on the robot. In
# this tutorial, we will instantiate a PlanningScene class directly,
# but this method of instantiation is only intended for illustration.
- import moveit_commander
- import numpy as np
- import rospy
from geometry_msgs.msg import PoseStamped
- import moveit.core
from moveit.core import kinematic_constraints, collision_detection, robot_model
from moveit.core.planning_scene import PlanningScene
+ import moveit.core
+ import moveit_commander
+ import numpy as np
+ import pathlib
+ import rospkg
+ import rospy
+
+ rospy.init_node("planning_scene_tutorial")
+ moveit_commander.roscpp_initialize(sys.argv)
r = rospkg.RosPack()
urdf_path = pathlib.Path(r.get_path("moveit_resources_panda_description")) / "urdf" / "panda.urdf"