Hello,

As in teach pendant by setting tool coordinate we can move robot only in that coordinates.

how can I use movegroup to move robotic arm in tool0 (as in motoman robot) coordinates instead of baselink? I am using setPoseRefernceFrame() like this,

      moveit::planning_interface::MoveGroupInterface::Plan my_planx1;

      geometry_msgs::PoseStamped target_posex1;
      move_group.setPoseReferenceFrame("tool0");
      target_posex1 = move_group.getCurrentPose();
      target_posex1.position.z -=0.342;
      move_group.setPoseTarget(target_posex1);
      move_group.setMaxVelocityScalingFactor(0.01);
      move_group.plan(my_plan);

But it is still moving according to base_link coordinate. is there any other method?

Thanks.

................. I try this one,

const Eigen::Affine3d &end_effector_state = current_state->getGlobalLinkTransform("tool0");
geometry_msgs::Pose pose;
tf::poseEigenToMsg(end_effector_state, pose);
pose.position.y += 0.342;
move_group.setPoseTarget(pose);

but still It is moving in base_link coordinate.