Hello there,
I am trying to get access to the current desired end effector's transform output by MoveIt (actually my goal is to compute the tracking error). My feeling is that I need to do the following steps:
* Get the desired joint angles from MoveIt
* Parse the urdf (to build a direct geometric model), or is there a package which computes the direct geometric model of the robot out of its urdf?
* Compute the end effector's desired transform from the geometric model and the desired joint angles
Am I right?
Now a question more related to code:
I guess the desired joint angles are provided by moveit in topic **/arm_controller/follow_joint_trajectory/goal**, no? This topic is of type `control_msgs/FollowJointTrajectoryActionGoal` ([api in ROS Kinetic](http://docs.ros.org/kinetic/api/control_msgs/html/action/FollowJointTrajectory.html)). I also guess the trajectory is in field **goal.trajectory.points.positions**. fields **points** and **positions** are arrays: do you know how I should interpret them? Also does the fact that these are arrays mean that the whole desired trajectory is sent at one and not per small time steps?
Thansk!
Antoine.
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