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line 121, 214, 337. eg,
geometry_msgs::Pose target_pose1;
target_pose1.orientation.w = 1.0;
target_pose1.position.x = 0.28;
target_pose1.position.y = -0.2;
target_pose1.position.z = 0.5;
move_group.setPoseTarget(target_pose1);
question: why given only the quaternion, a pose can be determined??
thanks!
As you said the pose is determined by both orientation and the position. It is what exactly what they have done in the tutorial
target_pose1.position.x = 0.28;
target_pose1.position.y = -0.2;
target_pose1.position.z = 0.5;
This 3 lines defines the position.
target_pose1.orientation.w = 1.0
this line shows the orientation (quarternion). They haven't defined remaining 3 components of quarternion. So it will be set to default zero value. If you want you can define remaining components as per your requirements as
target_pose1.orientation.x = ...
target_pose1.orientation.y=...
target_pose1.orientation.z = ...
Hope this clarifies your question
Asked: 2019-12-20 21:30:41 -0500
Seen: 212 times
Last updated: Dec 21 '19
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Can you please clarify your question ??
Sorry for my poor expression. I think a pose of a robot should be determined by both position and quaternion, because the quaternion only contain the orientation information of a joint. The "pose1", "pose2" and "pose3" presented in MoveIt tutorials, move_group_interface_tutorial.cpp only given the quaternion, I am so doubt that how can compute complete infromation of a joint only with this.
Cross-posted: ros-planning/moveit_tutorials#439.