moveit to plan in local frame

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

Eisenhorn gravatar image

Hello,

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?

BR

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Comments

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 imagePeteBlackerThe3rd ( 2019-09-10 03:30:23 -0500 )edit