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While writing the python script I realised something very dumb: I had another frame set as end effector so the robots would always look at the given point/position of an object just by planning to it with the "new end effector." Works insanely well with KDL.

So I thought, I might as well set the end effector to the original tool tip frame and try that out and it suddenly worked! So I thought the extra frame is at fault. Well, that's not the case either. Apparently, for no reason at all (probably a reason I'm too blind to see) using Trac IK I have to define an end effector with "set_end_effector_link()" and setting it to my extra frame does the trick.

Adding the orientation just like I did above also works! I don't know if this is "bad" but I have yet to see something go wrong with that. In other words, rotating around a point like that seems to work too!

Side note: self.pose_goal.pose.orientation.z/4 doesn't make really sense, originally it was pi/x but out of desperation I had that changed for random values because even pose.position wouldn't work!

Thanks for helping out, gvdhoorn!