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UR5 manipulator look/point at a turtlebot3

asked 2019-03-04 04:31:10 -0500

sisko gravatar image

Can anyone please point me in the direction of example code or a tutorial which uses a manipulator to track a mobile base robot or some other object?

I have a project to use a UR5 to track the movements of a turtlebot3. I have both robots simulated in Gazebo, I use teleop to drive the turtlebot around and I use moveit to put the ur5 end effector at randomly generated poses.

I am also using a static_transform_publisher to connect both robots \tf root nodes to the root world node. This has given me transforms with frame_id: odom for the turtlebot and child_frame_id: base_link for the ur5, as shown below.

image description

What I don't know is how to use moveit to to execute the transform which would point the ur5 end effector in the direction of the turtlebot.

I would appreciate any assistance.

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answered 2019-03-05 14:31:00 -0500

mlautman gravatar image

AFAIK the MoveIt! kinematic base api does not support this out of the box. You will need to generate a 6dof pose for the end effector that satisfies the 'look at' constraint and then query the kinematic solver for an IK solution at that pose.

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Asked: 2019-03-04 04:31:10 -0500

Seen: 131 times

Last updated: Mar 05 '19