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Add steps to run python code (#47)
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* Add steps to run python code

Make sure python code is executable and note that in binary release of ROS, moveit_commander throws an exception while shutting down

* Update move_group_python_interface_tutorial.rst

changes to rosrun and chmod
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@MPJansen @davetcoleman
MPJansen authored and davetcoleman committed Nov 5, 2016
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18 changes: 14 additions & 4 deletions doc/pr2_tutorials/planning/scripts/doc/move_group_python_interface_tutorial.rst
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Expand Up @@ -15,17 +15,27 @@ The entire code can be seen :codedir:`here in the moveit_pr2 github project<plan

The launch file
^^^^^^^^^^^^^^^
The entire launch file is `here
<https://github.com/ros-planning/moveit_tutorials/tree/kinetic-devel/doc/pr2_tutorials/planning/launch/move_group_python_interface_tutorial.launch>`_
The entire launch file is `here <https://github.com/ros-planning/moveit_tutorials/tree/kinetic-devel/doc/pr2_tutorials/planning/launch/move_group_python_interface_tutorial.launch>`_
on github. All the code in this tutorial can be run from the
moveit_tutorials package that you have as part of your MoveIt! setup.

Running the code
^^^^^^^^^^^^^^^^
Make sure your python file is executable::
roscd moveit_tutorials/doc/pr2_tutorials/planning/scripts/
chmod +x move_group_python_interface_tutorial.py

Roslaunch the launch file to run the code directly from moveit_tutorials::
Launch the moveit! demo interface::

roslaunch moveit_tutorials move_group_python_interface_tutorial.launch
roslaunch pr2_moveit_config demo.launch

Now run the python code directly using rosrun::

rosrun moveit_tutorials move_group_python_interface_tutorial.py

Please note that due to a bug in ros-Indigo discussed in issue `#15 <https://github.com/ros-planning/moveit_commander/issues/15>`_ the moveit_commander throws an exception when shutting down.
This does not interfere with the functioning of the code itself.

Expected Output
^^^^^^^^^^^^^^^
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