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What does setEndEffectorLink (from moveit::planning_interface) do?

My gripper is mounted slightly off-center from the tool on a robot arm, and I need some simple way to transform coordinates when moving the robot arm. I've set up a transform that is supposed to convey the offset, it basically goes in as a final link in the /tf topic (so we have baselink, shoulderlink ... ... eelink, gripperlink). However using setEndEffectorLink does nothing, as it seems. I though that

group.plan()

would take the EndEffectorLink value as it's target, is that incorrect?

I've also tried using

group.setEndEffectorLink("nonsensesdkjhfsjkdfhsd")

and MoveIt doesn't seem to care. What am I missing?

Anyone?

Asked by paturdc on 2014-09-04 12:40:14 UTC

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I have the same issue. Did you figure out what was going on?

Asked by Stephen_Z on 2017-08-15 18:23:08 UTC

I've also noticed this. Did anyone figure out the problem?

Asked by user5680 on 2019-11-22 00:56:09 UTC

Answers

setEndEffectorLink returns a boolean value indicating whether the endEffector was set correctly or not. If you try group.setEndEffectorLink("nonsensesdkjhfsjkdfhsd")it should return 0.

Asked by user5680 on 2019-11-22 01:32:09 UTC

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