Python - update execute() API (#692)

Author: henningkayser

doc/examples/jupyter_notebook_prototyping/jupyter_notebook_prototyping_tutorial.rst

@@ -292,7 +292,7 @@ First we create a helper function that we will use later when planning and execu
                 # execute the plan
                 if plan_result:
                         robot_trajectory = plan_result.trajectory
-                        robot.execute(robot_trajectory, blocking=True, controllers=[])
+                        robot.execute(robot_trajectory, controllers=[])
                 else:
                         print("Planning failed")
 

doc/examples/jupyter_notebook_prototyping/src/moveit_notebook_tutorial.ipynb

@@ -131,7 +131,7 @@
     "    # execute the plan\n",
     "    if plan_result:\n",
     "        robot_trajectory = plan_result.trajectory\n",
-    "        robot.execute(robot_trajectory, blocking=True, controllers=[])\n",
+    "        robot.execute(robot_trajectory, controllers=[])\n",
     "    else:\n",
     "        print(\"Planning failed\")"
    ]

doc/examples/motion_planning_python_api/motion_planning_python_api_tutorial.rst

@@ -187,7 +187,7 @@ Using the planning component represented by the ``panda_arm`` variable we can be
                 if plan_result:
                         logger.info("Executing plan")
                         robot_trajectory = plan_result.trajectory
-                        robot.execute(robot_trajectory, blocking=True, controllers=[])
+                        robot.execute(robot_trajectory, controllers=[])
                 else:
                         logger.error("Planning failed")
 

doc/examples/motion_planning_python_api/scripts/motion_planning_python_api_planning_scene.py

@@ -29,7 +29,7 @@ def plan_and_execute(
     if plan_result:
         logger.info("Executing plan")
         robot_trajectory = plan_result.trajectory
-        robot.execute(robot_trajectory, blocking=True, controllers=[])
+        robot.execute(robot_trajectory, controllers=[])
     else:
         logger.error("Planning failed")
 

doc/examples/motion_planning_python_api/scripts/motion_planning_python_api_tutorial.py

@@ -43,7 +43,7 @@ def plan_and_execute(
     if plan_result:
         logger.info("Executing plan")
         robot_trajectory = plan_result.trajectory
-        robot.execute(robot_trajectory, blocking=True, controllers=[])
+        robot.execute(robot_trajectory, controllers=[])
     else:
         logger.error("Planning failed")
 

package.xml

@@ -54,6 +54,7 @@
   <exec_depend>moveit</exec_depend>
   <exec_depend>moveit_resources_panda_moveit_config</exec_depend>
   <exec_depend>moveit_configs_utils</exec_depend>
+  <exec_depend>moveit_py</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>ros2_control</exec_depend>
   <exec_depend>rviz2</exec_depend>