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 |
If all you want is the current pose, you can skip MoveIt altogether and get the info directly from TF. The transformation you're looking for is probably base -> right_gripper. Check out the TF tutorials to see how to get transforms between links.
You only need to use MoveIt for this if you want to get transformations for robot states that are not the current robot state, e.g. to answer the question "what would the transform between base and right_gripper be if I executed plan X generated by MoveIt".
| | 2 | No.2 Revision |
If all you want is the current pose, you can skip MoveIt altogether and get the info directly from TF. The transformation you're looking for is probably base -> right_gripper. Check out the TF tutorials to see how to get transforms between links.
You only need to use MoveIt for this if you want to get transformations for robot states that are not the current robot state, e.g. to answer the question "what would the transform between base and right_gripper be if I executed plan X generated by MoveIt".
Of course you can do it with MoveIt too if you want, something like this:
moveit::planning_interface::MoveGroup group;
// ...
robot_state::RobotStatePtr state = group.getCurrentState();
Eigen::Affine3d &transform = getFrameTransform("right_gripper");
See the MoveGroup and RobotState documentation.
| | 3 | No.3 Revision |
If all you want is the current pose, you can skip MoveIt altogether and get the info directly from TF. The transformation you're looking for is probably base -> right_gripper. Check out the TF tutorials to see how to get transforms between links.
You only need to use MoveIt for this if you want to get transformations for robot states that are not the current robot state, e.g. to answer the question "what would the transform between base and right_gripper be if I executed plan X generated by MoveIt".
Of course you can do it with MoveIt too if you want, something like this:
moveit::planning_interface::MoveGroup group;
// ...
robot_state::RobotStatePtr state = group.getCurrentState();
Eigen::Affine3d &transform = getFrameTransform("right_gripper");
state->getFrameTransform("right_gripper");
See the MoveGroup and RobotState documentation.
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.