MoveIt End Effector positioning
Hi!
My question is that how can I move the end-effector forward. (Say, go forward by 0.05 m on Y-axis)?
My current status is the following:
I made my robot to move to a given position using rviz, so the robot position is not in the "center". After this I want to make the end effector to move by 0.05 m forward on Y-axis (as if i would like to push a button with my finger:) )
geometry_msgs::Pose target_pose1 = group.getCurrentPose().pose;
target_pose1.position.y -= 0.05;
group.setPoseTarget(target_pose1);
success = group.plan(my_plan);
if (success) {
group.execute(my_plan);
}
But this does not work, because target_pose1.position.y -= 0.05;
refers to the world coordinates not to the end-effector coordinates.