Hello,
As in teach pendant by setting tool coordinate we can move robot only in that coordinates.
how can I use move_group to move robotic arm in tool0 (as in motoman robot) coordinates instead of base_link? I am using **setPoseRefernceFrame()** like this,
moveit::planning_interface::MoveGroupInterface::Plan my_planx1;
geometry_msgs::PoseStamped target_posex1;
move_group.setPoseReferenceFrame("tool0");
target_posex1 = move_group.getCurrentPose();
target_posex1.position.z -=0.342;
move_group.setPoseTarget(target_posex1);
move_group.setMaxVelocityScalingFactor(0.01);
move_group.plan(my_plan);
But it is still moving according to base_link coordinate. is there any other method?
Thanks.
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