Hi,
I am trying to control a real ur10 robot arm with moveit packages but I am facing the following issues:
1- When I print the robot `end-effector` pose using moveit as below
moveit::planning_interface::MoveGroupInterface *group;
group = new moveit::planning_interface::MoveGroupInterface("manipulator");
group->setEndEffectorLink("tool0");
geometry_msgs::PoseStamped current_pose_1 = group->getCurrentPose();
I got a different pose than the one shown in the teach pendant. I kind of know why I am getting this but don't know how to fix it. The end-effector pose in the teach pendent is taken with reference to the `base` frame and the `end-effector` pose in moveit is taken with reference to the `base_link`, the `base` frame orientation = `base_link` orientation + 180 dgree rotation around z). Is there a way to make the axes the same for the pose that is coming from the teach pendant and the one coming from moveit ?
Also, I am trying to make the robot move around a fixed object in a circular path using moveit, what is the best way to do so? (Should I keep publishing the fixed object pose and calculate the trajectory points or is there a better way of doing it? )
Thanks in advance
Raghad
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