Align x-axis of end effector with vector in space
Hi all,
I really need your help. I have tried now for a few days to align my end effector with a simple 3d vector in space. Thats's a quite simple task: given position = x,y,z and given orientation vector = a,b,c but I can't find a function in moveit! to do so. I dont know how to form the geometry_msgs::Pose by position (of course) and quaternion. I tried everything like:
- getRPY from current pose
- convert to "vector" (which is of course not equal and simple, lose roll)
- calculate perpendicular vector (cross product) and angle (dot product) between the two vectors above (current+given goal orientation vector)
- from this calculate the quaternion by constructor tf::quaternion(perpendicular vector, angle)
That couldn't be the truth, I must have missed something... please advise. I am using ROS Indigo, Ubuntu 14.04LTS, Moveit!
Thank you very much in advance!
Hannes
Asked by HannesIII on 2017-02-03 13:41:54 UTC
Comments
Related: #q253361.
Asked by gvdhoorn on 2017-02-03 14:19:41 UTC