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Get the current joint values from your moveGroup (C++ version):
std::vector<double> joints;
joints = moveGroup.getCurrentJointValues();
Set whatever joint you want to change:
joints.at(y) = x.x;
Send the move command:
moveGroup.setJointValueTarget(joints);
moveGroup.move();
+1 This is probably the simplest way to do it. However, note that this actually sends target values for all joints in the group, using the current values as target. This is slightly different (depending on the driver) compared to requesting only one joint to move.
Have you tried using this function?: moveit::planning_interface::MoveGroupInterface::setEndEffector (const std::string & eef_name)
Also it could be usefull to read through the api on http://moveit.ros.org/code-api/ Kind regards, Edwin van Emmerik
@EdwinvanEmmerik: I think the OP wants to move just a single joint, not the pose of the EEF. Can you clarify how the function you mention would help there?
Add a move group, i.e. "JointModelGroup", in your srdf that contains only this one joint.
Afterwards you can set a joint target for this group via setJointValueTarget.
Hello Andy,
I tried same commands i.e. getCurrentJointValues() and setJointValueTarget(). But both commands doesn't seem to be working. I am not able to get the current joint values also. I checked with rosbag and came to know there are no messages when I am entering these movegroup commands. So can you please let me know how to debug, and give some hint, where should be some problem.
Saurabh
Asked: 2017-10-21 06:41:32 -0500
Seen: 1,466 times
Last updated: Jan 02 '18
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