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The difference of inverse kinematic in pr2 and my robot

asked 2016-12-07 02:40:09 -0500

clark_txh gravatar image

updated 2016-12-07 03:35:32 -0500

gvdhoorn gravatar image

when I test inverse kinematic , I find some difference config in pr2 and my robot.

the pr2:

geometry_msgs::PoseStamped target_pose;
target_pose.header.frame_id = referenceFrame;
 target_pose.header.stamp = ros::Time::now();  
target_pose.pose.position.x = position_action[0];
target_pose.pose.position.y = position_action[1];
target_pose.pose.position.z = position_action[2];
target_pose.pose.orientation.w = 1.0;

my robot:

geometry_msgs::PoseStamped target_pose;
target_pose.header.frame_id = referenceFrame;
target_pose.header.stamp = ros::Time::now();  
target_pose.pose.position.x = position_action[0];
target_pose.pose.position.y = position_action[1];
target_pose.pose.position.z = position_action[2];
target_pose.pose.orientation.x = position_action[3];
target_pose.pose.orientation.y = position_action[4];
target_pose.pose.orientation.z = position_action[5];
target_pose.pose.orientation.w = position_action[6];

when I make my robot config like pr2, I will fail in planning.

why about this?

advance thank for any help

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answered 2016-12-07 07:26:45 -0500

Gokul gravatar image

Actually ,it should work when you give the target pose as an quaternion angle. What is the error which you are getting when you are specifying the angles as such in pr2 config.

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I get that target_pose.pose.orientation.x = 0, y = 0 ,z = 0;

clark_txh gravatar image clark_txh  ( 2016-12-09 02:50:39 -0500 )edit

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Asked: 2016-12-07 02:40:09 -0500

Seen: 26 times

Last updated: Dec 07 '16