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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
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.
Asked: 2019-09-10 03:24:44 -0500
Seen: 1,388 times
Last updated: Sep 10 '19
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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.