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What does setEndEffectorLink (from moveit::planning_interface) do?

asked 2014-09-04 12:40:14 -0500

paturdc gravatar image

updated 2014-09-10 05:02:48 -0500

My gripper is mounted slightly off-center from the tool on a robot arm, and I need some simple way to transform coordinates when moving the robot arm. I've set up a transform that is supposed to convey the offset, it basically goes in as a final link in the /tf topic (so we have base_link, shoulder_link ... ... ee_link, gripper_link). However using setEndEffectorLink does nothing, as it seems. I though that


would take the EndEffectorLink value as it's target, is that incorrect?

I've also tried using


and MoveIt doesn't seem to care. What am I missing?


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I have the same issue. Did you figure out what was going on?

Stephen_Z gravatar image Stephen_Z  ( 2017-08-15 18:23:08 -0500 )edit

I've also noticed this. Did anyone figure out the problem?

user5680 gravatar image user5680  ( 2019-11-21 23:56:09 -0500 )edit

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answered 2019-11-22 00:32:09 -0500

user5680 gravatar image

setEndEffectorLink returns a boolean value indicating whether the endEffector was set correctly or not. If you try group.setEndEffectorLink("nonsensesdkjhfsjkdfhsd")it should return 0.

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Asked: 2014-09-04 12:40:14 -0500

Seen: 259 times

Last updated: Nov 22 '19