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Taken from here

Will something like this work from their example?

moveit_msgs::OrientationConstraint ocm;
ocm.link_name = "r_wrist_roll_link";
ocm.header.frame_id = "base_link";
ocm.orientation.w = 1.0;
ocm.absolute_x_axis_tolerance = 0.1;
ocm.absolute_y_axis_tolerance = 0.1;
ocm.absolute_z_axis_tolerance = 0.1;
ocm.weight = 1.0;

But fully define ocm.orientation.x ocm.orientation.y and ocm.orientation.z? Then you can just put loose tolerances on the axes you don't care about.

Taken from here

Will something like this work from their example?

moveit_msgs::OrientationConstraint ocm;
ocm.link_name = "r_wrist_roll_link";
ocm.header.frame_id = "base_link";
ocm.orientation.x = -0.5;
ocm.orientation.y = 0.5;
ocm.orientation.z = 0.5;
ocm.orientation.w = 1.0;
0.5;
ocm.absolute_x_axis_tolerance = 0.1;
0.01;
ocm.absolute_y_axis_tolerance = 0.1;
0.01;
ocm.absolute_z_axis_tolerance = 0.1;
2*pi;
ocm.weight = 1.0;

But Essentially you're fully define ocm.orientation.x ocm.orientation.y and ocm.orientation.z? Then you defining the orientation, but telling the solver the rotation around the Z axis (Yaw) can just put loose tolerances on the axes you don't care about. be any value.