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1 | initial version |
After everything is working, I will add a more detailed answer on what was causing issues and how I fixed most of them:
Basically, what I did was checking my moveit_config and moveit_source packages from scratch. After measuring my real robot I noticed that my robot was sitting about 3,5 cm lower in my URDF
than the real one.
I tried two things:
move_group.setPoseReferenceFrame("base_link")
to "robot_base"
, as my robot is sitting on a mobile platform. It did the trick but I rather considered this to be a dirty workaroundURDF
and XACRO
properly with a new base-mesh as well as running the moveit-setup-assistant
as described in the tutorials (https://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html) on my config package in order to update my SRDF
. I also renamed the joints to their original names.2 | No.2 Revision |
After everything is working, I will add a more detailed answer on what was causing issues and how I fixed most of them:
Basically, what I did was checking my moveit_config and moveit_source packages from scratch. After measuring my real robot I noticed that my robot was sitting about 3,5 cm lower in my URDF
than the real one.
I tried two things:
move_group.setPoseReferenceFrame("base_link")
to "robot_base"
, as my robot is sitting on a mobile platform. It did the trick but I rather considered this to be a dirty workaroundURDF
and XACRO
properly with a new base-mesh as well as running the moveit-setup-assistant
as described in the tutorials (https://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html) on my config package in order to update my SRDF
. I also renamed the joints to their original names.Short version: Working with absolute coordinates in cartesian space is not working when you interact with Moveit! while your robot control has deviating positions