Hey there,
I'm working with an ur10 arm in groovy using MoveIt. I can plan and excecute the position and orientation of the end effector without problems when i'm using rviz and moving the connectors with the mouse. But when i do the planning from c++ over the move_group interface i'm getting the warning
>"Orientation constraint for link 'right_arm_ee_link' is probably incorrect: 0.482316, 0.611794, 0.626960, 0.345908. Assuming identity instead."
The arm moves in gazebo to the desired position but the orientation is all the time only the identity. Any thoughts?
geometry_msgs::PoseStamped pose;
rnd_pose.header.frame_id = "/ROBOT_BASE";
pose.pose.position.x = sensornode_.translation.x;
pose.pose.position.y = sensornode_.translation.y;
pose.pose.position.z = sensornode_.translation.z;
pose.pose.orientation.w = sensornode_.rotation.w;
pose.pose.orientation.x = sensornode_.rotation.x;
pose.pose.orientation.y = sensornode_.rotation.y;
pose.pose.orientation.z = sensornode_.rotation.z;
group.setStartStateToCurrentState();
group.setGoalOrientationTolerance(0.1);
group.setPoseTarget(pose);
group.move();
Thank you,
Matthias
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