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I resolved the issue the problem with my code was that I was giving

> pose_goal.orientation.w = value
> pose_goal.position.x = value
> pose_goal.position.y = value
> pose_goal.position.z = value

however, I should also give the quaternions as the planning scene was colliding with the end-effector without it and hence oit was failing to provide a path. In addition to this I also change set_goal_tolerance(1e-6)

for reference this is new values

pose_goal.position.x = 0.6281073954848061 
pose_goal.position.y = -0.09639226578995838
pose_goal.position.z =  0.6397201159890544


pose_goal.orientation.x = 0.1375399725278269
pose_goal.orientation.y = 0.13221897080143274
pose_goal.orientation.z = 0.6228175168854516
pose_goal.orientation.w = 0.7587484697697222

for trouble shooting I used moveIt to plan motion and use get_current_pose(end_effector_link='link6').pose to get the position value of the end-effector. I also found out that my values are in meters.