Moveit! UR5 goal pose different

asked 2019-01-31 08:29:19 -0600

jetman gravatar image

I am using Moveit and UR 5 using the Python Interface in the following environment.

Ubuntu 16.04

ROS Kinetic



I am moving it using MoveGroupCommander and compute_cartesian_path, but the target pose and the goal pose are misaligned.

For example, if you move 0.1 m to the Z axis, goal pose will be different from 0.01 m target pose.

/ joint_state and / follow_joint_trajectory / goal are in agreement.

Setting MoveGroupCommander.set_goal_position_tolerance to 1e - 4 does not change.

How can we reduce the difference between the target pose and the goal pose?

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