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1 | initial version |
The Inverse Kinematics is returning an invalid result as you are not supplying a desired orientation for the pose. Without setting an orientation, the default Pose::Quaternion is a vector of all zeros [0,0,0,0], which is an invalid Quaternion. I would recommend either
-or-
$ rostopic echo -n1 /robot/limb/left/endpoint_state
header:
...
pose:
position:
x: 0.529521061953
y: 0.205000088025
z: -0.287943031364
orientation:
x: -0.229715175883
y: 0.970497091367
z: 0.00287481046527
w: 0.0731988325182
Whether or not the latter method will work at an arbitrary Pose::Position is arm-configuration dependent.
2 | No.2 Revision |
The Inverse Kinematics is returning an invalid result as you are not supplying a desired orientation for the pose. Without setting an orientation, the default Pose::Quaternion is a vector of all zeros [0,0,0,0], which is an invalid Quaternion. I would recommend either
-or-
$ rostopic echo -n1 /robot/limb/left/endpoint_state
header:
...
pose:
position:
x: 0.529521061953
y: 0.205000088025
z: -0.287943031364
orientation:
x: -0.229715175883
y: 0.970497091367
z: 0.00287481046527
w: 0.0731988325182
Whether or not the latter method will work at an arbitrary Pose::Position is arm-configuration dependent.