Hello,
I’m trying to implement pick and place with moveit and gazebo. i have gazebo simulated robot and i’m sending cartesian pose through moveit’s c++ interface.
at initial stage i want my robot to approach the block, i have fetched the pose of the robot from gazebo by calling the service get_model_state, and i have fed it to the moveit c++ interface program.
i expect robot to move to the object but robot moves in exact opposite direction. can anyone explain this behaviour and what i’m doing wrong?
Below you will find:
**Image of robot and object that i want to approach**
**Pose retrieved from gazebo**
position_x=0.871467
position_y=-0.076430
position_z=0.295392
orientation_x=0.002768
orientation_y=-0.003604
orientation_z=0.003009
orientation_w=0.999985
**below is the code i’m using**
int main(int argc, char** argv)
{
ros::init(argc, argv, "moveit_interface");
ros::NodeHandle node_handle;
ros::AsyncSpinner spinner(1);
spinner.start();
static const std::string PLANNING_GROUP = "panda_arm";
moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP);
//setting up movegroup class
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
const robot_state::JointModelGroup* joint_model_group =
move_group.getCurrentState()->getJointModelGroup(PLANNING_GROUP);
move_group.setPlanningTime(15);
// Planning to a Pose goal
// We can plan a motion for this group to a desired pose for the
// end-effector.
geometry_msgs::Pose target_pose1;
target_pose1.orientation.x = 0.002768;
target_pose1.orientation.y = -0.003604;
target_pose1.orientation.z = 0.003009 ;
target_pose1.orientation.w = 0.999985;
target_pose1.position.x = 0.871467;
target_pose1.position.y = -0.076430;
target_pose1.position.z = 0.295392;
move_group.setApproximateJointValueTarget(target_pose1, "panda_link7");
//move_group.setPoseTarget(target_pose1);
//call the planer to plan the myplan
moveit::planning_interface::MoveGroupInterface::Plan my_plan;
//moving to pose goal
move_group.move();
ros::shutdown();
return 0;
}
**Update 1**
Reference frames of object and robot
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