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moveit to plan in local frame

asked 2019-09-10 03:24:44 -0500

Eisenhorn gravatar image


Is it possible to change the reference frame of moveit another reference frame than an robot external frame.

Right now I have map -> base_link. I have a mobile robot with an arm, whos arm_base_link can rotate. I would like to plan moveit in the arm coordinate frame, but at the same time have the octomap of the sensor plugin in the map frame.

Is this possible or must I do the transfroms in a separte transformer?


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Is it possible for you to add the rotating base joint to your robot arm URDF so that Moveit plans with it as part of the robot.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2019-09-10 03:30:23 -0500 )edit

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answered 2020-02-17 06:02:46 -0500

Sathyakumar Nanda gravatar image

Yes. I guess your frames are in order map->base_link->arm_base_link. I guess moveit.setposereferenceframe(arm_base_link) might solve. Or make a new planning group for moveit from arm_base_link.

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Asked: 2019-09-10 03:24:44 -0500

Seen: 881 times

Last updated: Sep 10 '19