I am using Moveit and UR 5 using the Python Interface in the following environment.
Ubuntu 16.04
ROS Kinetic
universal_robot-kinetic-devel
https://github.com/ros-industrial/universal_robot
ur_modern_driver-kinetic-devel
https://github.com/ros-industrial/ur_modern_driver
I am moving it using `MoveGroupCommander` and `compute_cartesian_path`, but the target pose and the goal pose are misaligned.
For example, if you move 0.1 m to the Z axis, goal pose will be different from 0.01 m target pose.
`/ joint_state` and `/ follow_joint_trajectory / goal` are in agreement.
Setting `MoveGroupCommander.set_goal_position_tolerance` to 1e - 4 does not change.
How can we reduce the difference between the target pose and the goal pose?
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