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Is MoveIt saying that the pose is invalid, or that it is unreachable? It may be that the way the axes of the box are defined results in the gripper trying to go to a crazy orientation which would result in the wrist colliding with the box or going outside its reachable region in some other way. You can experiment with this by setting the orientation of the pose to point directly away from the robot, for example. Then you can just debug the Cartesian position by itself rather than also trying to debug the orientation at the same time.

I would also suggest checking the coordinate frames you are working with. I suspect that /gazebo/get_model_state is returning some sort of global coordinate frame, but you probably want to define the MoveIt target in a frame fixed to the robot base. You can use the tf library to do this.