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How to get values orientation of end effector pose ?

asked 2019-06-19 03:44:07 -0500

TardiSs gravatar image

updated 2019-06-19 03:53:00 -0500

gvdhoorn gravatar image

The first, I am so sorry because my english is not good.

Next, I'm working with robot arm 5DOF. I want to move end effector pose. i can move along x y z asix but i dont know how to get values orientation of eef?

i got pose with getCurrentPose() and maybe i can get orientation with getCurrentRPY()???

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answered 2019-06-19 22:35:00 -0500

TardiSs gravatar image

I solved it! I used " std::vector<double> orientation = move_group.getCurrentRPY(); " to get vector 3 elements roll pitch yaw. After that convert RPY to Quaternion and set this values to target_pose.

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Wouldn't just looking up the TF to your EEF's frame get you this information? That would immediately be in a format that would be usable.

gvdhoorn gravatar image gvdhoorn  ( 2019-06-20 05:26:00 -0500 )edit

I thought about that way but i do not know how to looking up the tf to eef's frame get this information?

TardiSs gravatar image TardiSs  ( 2019-06-20 05:43:14 -0500 )edit

Would you know how to lookup a transform?

gvdhoorn gravatar image gvdhoorn  ( 2019-06-20 06:03:39 -0500 )edit

No, I do not know. TT

TardiSs gravatar image TardiSs  ( 2019-06-20 06:06:45 -0500 )edit

Then I would suggest to do the TF2 tutorials. The 3rd one ("writing a TF listener") should clarify things for you.

gvdhoorn gravatar image gvdhoorn  ( 2019-06-20 06:08:55 -0500 )edit

Thank you so much!

TardiSs gravatar image TardiSs  ( 2019-06-20 06:15:37 -0500 )edit
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answered 2019-06-19 10:56:59 -0500

igorrecioh gravatar image

I suppose you are working in C++. With getCurrentRPY() you will get Roll, Pitch and Yaw orientations in radians.

You can get quaternion orientation with getCurrentPose().orientation.

Hope it helps

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Asked: 2019-06-19 03:44:07 -0500

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Last updated: Jun 19 '19