In short, I want to control the endeffector of my 3DOF arm in cartesian space with a 3D mouse. (Very similar to https://answers.ros.org/question/226958/best-way-to-use-moveit-for-teleoperation/ , only that my robot arm only has 3 DOF)
What I got working so far:
- Moveit configuration generated
- I can move the interactive marker, plan and execute paths in Rviz
- I can move the arm into goal poses with orientation from python
Now my problem seems to be that due to the lack of DOFs I always need the orientation values for the EEF in the moveit interface to plan poses that I want my endeffector to end up in.
I attempted to
- generate an IKFast solver using the Translation3D configuration/parameter => compiles, works, however still requires orientation?!
- play with the tolerance as mentioned in https://bitbucket.org/traclabs/trac_ik/issues/30/use-trac_ik_plugin-with-3dof-robot (changed the value in the all_close() function)
- tried to set position_only_ik: True in kinematics.yaml
- took a look at https://github.com/ros-planning/moveit/issues/548 however I dont want any EEF rotation (also can set it), just an EEF x,y,z position
Now my question is: How can I get moveit to plan paths to EEF positions without needing to specify any orientation values?
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