The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
Try to use the move it planner, and perform a cartesian to robot joint angles transformation. That would give you your destination and origin position as you need in whichever orientation. Alternatively, you can also use the move it planner and simulate your desired location and orientation, and copy the points from there into your program.
It is ideal to use a transformation from cartesian to robot joint angles. If you are sending raw points it will always have every joint moving, and you cannot really isolate each joint movements.
Maybe you can provide your code location ( the link you have given takes me to the brr google group), and then the actual intent of the code could be realized. Also, I would always prefer using moveit library (just a personal choice) as it gives you access to all sorts of planners including IK.
Also what is your application intent?
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
