Hi!
I try to control a UR3 with MoveIt. If i set values for every joint or set a pose as a goal everything works great.
But i try to move the tool of the robot to a coordinate (x,y,z + orientation) MoveIt calculates every time a new movement. Sometimes MoveIt don't find a solution, sometimes everything is great and sometimes the robot does some very senseless movement (but reaches to goal).
For example: the robot just has to move one joint but MoveIt calculates a movement with 2 rotations on the base and every joint....
Is is maybe possible to simple up the movement or to save a movement?
Thanks!
my code:
import sys
import copy
import rospy
import moveit_commander
import moveit_msgs.msg
import geometry_msgs.msg
moveit_commander.roscpp_initialize(sys.argv)
rospy.init_node('move_group_python_interface_tutorial', anonymous=True)
robot = moveit_commander.RobotCommander()
scene = moveit_commander.PlanningSceneInterface()
group = moveit_commander.MoveGroupCommander("arm")
display_trajectory_publisher = rospy.Publisher('/move_group/display_planned_path', moveit_msgs.msg.DisplayTrajectory, queue_size=1)
pose_target = geometry_msgs.msg.Pose()
pose_target.orientation.w = 1.0
pose_target.position.x = 0.96
pose_target.position.y = 0
pose_target.position.z = 1.18
group.set_pose_target(pose_target)
plan1 = group.plan()
rospy.sleep(5)
moveit_commander.roscpp_shutdown()
↧
