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 | 1 | initial version |
As stated in here by Simon Jansen:
Assuming you're using the high-level movegroup interface, could you not do something like this:
moveit::planning_interface::MoveGroup *group; group = new moveit::planning_interface::MoveGroup("arm"); group->setEndEffectorLink("hand_left"); geometry_msgs::PoseStamped current_pose = group->getCurrentPose();
| | 2 | No.2 Revision |
As stated in here by Simon Jansen:
Assuming you're using the high-level movegroup interface, could you not do something like this:
moveit::planning_interface::MoveGroup
*group; group = new moveit::planning_interface::MoveGroup("arm");moveit::planning_interface::MoveGroupgroup->setEndEffectorLink("hand_left");geometry_msgs::PoseStampedgeometry_msgs::PoseStamped current_pose =group->getCurrentPose();group->getCurrentPose();
| | 3 | No.3 Revision |
As stated in here by Simon Jansen:
Assuming you're using the high-level movegroup interface, could you not do something like this:
moveit::planning_interface::MoveGroup *group; group = new moveit::planning_interface::MoveGroup("arm"); group->setEndEffectorLink("hand_left"); geometry_msgs::PoseStamped current_pose = group->getCurrentPose();
but this is if you want to define a new group. If you want to use the group linked to your previous end-effector you should do:
moveit::planning_interface::MoveGroup group("your end-effector");
group.getCurrentPose();
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