How to position eef perpendicular to surface?

asked 2018-02-23 05:38:05 -0500

tangol gravatar image

Hi, I want to position my eef of my robot perpendicular to the wall. I have a camera at the eef with depth data. I can measure the distance to the wall etc. Furthermore I am able to detect a qr code attached to the wall with its orientation. One approach would be to allign the Z axis of the detected qr code with the Z axis of my eef --> the eef would be perpendicular to the wall. How can I align the axis in ROS C++?

Thank you

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