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How to set link(end_effector) pose?

asked 2018-02-08 09:51:21 -0500

JuanTelo
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updated 2018-02-08 09:53:48 -0500

Hi, I'm working with the ur10 model and I'm trying to get a way of controlling it by setting a pose for the end-effector. However I have no clue on how to do it. I tried the tutorial of movit regarding kinematics. But in the tutorial they calculate the IK from the value calculated from the DK for the end-effector but I want to set manually the values of the end-effector. So I tried to do the same way as they do for the joints:

kinematic_state->setRandomPosition(joint_model_group);

but had no success in finding a similar function for the links as there are for setting the joint values. Is there any other way I can do this, in order I can manually write the x,y,z values?

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answered 2018-02-08 10:00:04 -0500

jrgnicho

486 ●3 ●12 ●14 http://rosindustrial.org/

You can use the setFromIK method

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@jrgnicho that seems the way to go but can you help me here, I defined the pose through geometry_msgs::Pose end target;

but now how can turn it into const Eigen::Affine3d & pose, as required in the documentation?

JuanTelo ( 2018-02-08 11:58:52 -0500 )edit

There are multiple flavors of that function, one of them takes a geometry_msgs::Pose type. However if you need to convert between various types within a ROS program you can always use the this conversion utility header

jrgnicho ( 2018-02-08 14:25:22 -0500 )edit

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Asked: 2018-02-08 09:51:21 -0500

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Last updated: Feb 08 '18

How to set link(end_effector) pose? edit

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How to set link(end_effector) pose?