real ur10 with moveit

asked 2019-03-27 09:02:01 -0600

raghad.husari gravatar image

Hi,

I am trying to control a real ur10 robot arm with moveit packages but I am facing the following issues:

1- When I print the robot end-effector pose using moveit as below

moveit::planning_interface::MoveGroupInterface *group;
group = new moveit::planning_interface::MoveGroupInterface("manipulator");
group->setEndEffectorLink("tool0"); 
geometry_msgs::PoseStamped current_pose_1 = group->getCurrentPose();

I got a different pose than the one shown in the teach pendant. I kind of know why I am getting this but don't know how to fix it. The end-effector pose in the teach pendent is taken with reference to the base frame and the end-effector pose in moveit is taken with reference to the base_link, the base frame orientation = base_link orientation + 180 dgree rotation around z). Is there a way to make the axes the same for the pose that is coming from the teach pendant and the one coming from moveit ?

Also, I am trying to make the robot move around a fixed object in a circular path using moveit, what is the best way to do so? (Should I keep publishing the fixed object pose and calculate the trajectory points or is there a better way of doing it? )

Thanks in advance Raghad

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