Hi!
My question is that how can I move the end-effector forward. (Say, go forward by 0.05 m on Y-axis)?
My current status is the following:
I made my robot to move to a given position using rviz, so the robot position is not in the "center".
After this I want to make the end effector to move by 0.05 m forward on Y-axis (**as if i would like to push a button with my finger:)** )
geometry_msgs::Pose target_pose1 = group.getCurrentPose().pose;
target_pose1.position.y -= 0.05;
group.setPoseTarget(target_pose1);
success = group.plan(my_plan);
if (success) {
group.execute(my_plan);
}
But this does not work, because `target_pose1.position.y -= 0.05;` refers to the world coordinates not to the end-effector coordinates.
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