I'm trying to figure out whether the MoveIt MoveGroupInterface, in particular, moveit_commander uses rotation vectors or Euler angles as orientation input. The documentation for move_group.set_position_target is not clear in this regard:
> [x, y, z, rot_x, rot_y, rot_z] or a list of 7 floats [x, y, z, qx, qy, qz, qw]
The list is then passed to [MoveGroupInterface](https://github.com/ros-planning/moveit/blob/6bf3d04488a42e4e8e7153c2349c2d35103e7e50/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp#L1843) where it is converted by [Eigen](http://docs.ros.org/diamondback/api/eigen_conversions/html/eigen__msg_8cpp_source.html) to a Pose (XYZ and Quaternion) which looks more like the original input should be a rotation vector.
The MoveGroupInterface also has a [setRPYTarget](https://github.com/ros-planning/moveit/blob/6bf3d04488a42e4e8e7153c2349c2d35103e7e50/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp#L1945) function, which expects roll pitch yaw == (fixed XYZ?) Euler angles.
Therefore, I'm not 100% sure if set_pose_target expects Euler angles or a rotation vector.
Can anyone please clarify me on which pose representation is expected.
↧