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


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

I am using ur_modern_driver

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

Hi. Did you solve the problem? I'm having the same issue.

Nicholas_Dascanio gravatar image Nicholas_Dascanio  ( 2020-01-30 12:52:43 -0600 )edit

Hi, No. But what you can do is to calculate the distance between the base_footprint and the base frame of the ur5 and send the goal plus this distance. For example, if the ur5 is on a robot which its height is 0.5m, moveit will consider the goals from the ur5 plus this 0.5m. So, you are loosing by this 0.5m of workspace. So, all you need is to add this 0.5 and this is will be ok. I did not use this eventually but it should working.

Aviad gravatar image Aviad  ( 2020-01-30 13:26:20 -0600 )edit

Hi Aviad, thank you for your suggestion, I was thinking the same. It should work, but I still don't know why you can't actually change the planning frame in the moveit_python API.

Nicholas_Dascanio gravatar image Nicholas_Dascanio  ( 2020-01-31 04:37:40 -0600 )edit

I neither. Maybe if someone will suggest them to do that they will be. I believe that in the most applications there is no need to use that setting.

Aviad gravatar image Aviad  ( 2020-01-31 05:02:03 -0600 )edit