How to set planning_frame in moveit

asked 2019-11-26 03:27:21 -0600

Aviad gravatar image

updated 2019-11-26 03:29:39 -0600

Hello,

I am working with mobile platform and ur5 manipulator. I want to set goal in the map frame but I can't do it. I am using the moveit_group python SDK and there I have only get_planning_frame and not set_planning_frame. When I print the get_planning_scene I get base_footprint and like I said I want that it will be map. There is a command to set_pose_reference_frame() but It didn't solve the problem. I also tried to change the base_frame in the ur_driver launch file.

I will glad if someone will help me with that. Thanks, Aviad

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Comments

Not an answer, but:

I also tried to change the base_frame in the ur_driver launch file.

You mean: "ur_robot_driver or ur_modern_driver launch file", correct? Only if you have CB2 controller should you still be using ur_driver.

gvdhoorn gravatar imagegvdhoorn ( 2019-11-26 04:01:06 -0600 )edit

I am using ur_modern_driver

Aviad gravatar imageAviad ( 2019-11-26 04:50:26 -0600 )edit