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Hi Jorge,

There are a few things that need clarifying here. The moveit_msgs::RobotTrajectory message doesn't store Cartesian waypoints it stores joint angles. To convert these trajectories into Cartesian EEF positions you'll need to use the kinematic model of the robot.

The line:

trajectory.joint_trajectory.points[i].position[6];

Is the angle of the 7th joint of the robot at step i in the trajectory, this value is in radians. This is why your attempt to transform it using TF fails before because it's a single angle not a 3D point.

What type of robot model are you using in this case?