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What is the target frame in moveit for PR2?

asked 2019-01-31 21:45:17 -0500

Tawfiq Chowdhury gravatar image

updated 2019-02-01 16:21:37 -0500

I have a pose transformation code which is working but still I am unable to plan a reachable pose. I am following this moveit python tutorial. Here some default values have been given for x,y,z coordinates, my question is they are in which frame of PR2, is it base_link or is it world?

print "============ Generating plan 1"
pose_target = geometry_msgs.msg.Pose()
pose_target.orientation.w = 1.0
pose_target.position.x = 0.7
pose_target.position.y = -0.05
pose_target.position.z = 1.1

I am asking this because when I will receive an object's pose from a sensor such as camera, I need to know the pose in camera sensor frame will be transformed to which frame for the arm to grip the object? I tried changing pose_target.position.x=0.75 instead of 0.7 and moveit could not make a motion plan but it was working till 0.74, so that slight change should not make the position unreachable, so I want to be sure about what is the target pose. Is it the arm of base_link?

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Hello ! Since it is an old question, i guess you found an answer, can you share it please. I'm in the same case as you were.

Benjamin C gravatar image Benjamin C  ( 2022-03-02 10:07:20 -0500 )edit

@Benjamin C, yes, it is odom-combined, initially I thought it is base link but it is not base link.

Tawfiq Chowdhury gravatar image Tawfiq Chowdhury  ( 2022-03-02 10:09:33 -0500 )edit

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answered 2022-03-02 10:09:52 -0500

Tawfiq Chowdhury gravatar image

It is odom-combined.

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Asked: 2019-01-31 21:45:17 -0500

Seen: 216 times

Last updated: Mar 02 '22