I'm using MoveIt interface to control my Yumi Robot either by setting the joints value or the Pose values. What I need to do is changing the value of one joint only (joint-6) without changing the other joint values.
Thank you in advance.
I just solved it by some coding I get the current state of joints and copy them to a variable, and then just edit the needed joint only.
here is the code
std::vector<double> x;
group.getCurrentState() ->copyJointGroupPositions(group.getCurrentState() ->getRobotModel() ->getJointModelGroup(group.getName()), x);
x[/joint number/]=/value/;
The code is available in ROS book chapter 6 6.2 Planning to a joint goal
You can setup JointModelGroups (planning groups) for each single joint in your srdf to plan with these joints only.
How to actuate these trajectories on your robot arm depends on the concrete hardware driver. I've not worked with Yumi up to now, so I can't help you there.
MoveIt! added a method for this recently. Cool.
bool setJointValueTarget (const std::string &joint_name, double value)
Asked: 2017-12-05 13:56:17 -0600
Seen: 821 times
Last updated: Jan 18 '18
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