Ask Your Question
0

How do I relocate the interactive marker to the tip of the needle?

asked 2020-04-29 08:08:17 -0600

whitecatshiro gravatar image

updated 2020-04-29 14:25:19 -0600

Hi, i want to move the planner marker to the tip of the needleimage description

edit retag flag offensive close merge delete

Comments

Quick comment: the coordinate planner is actually called an interactive marker. That may help finding documents/discussions/previous Q&As about it.

gvdhoorn gravatar image gvdhoorn  ( 2020-04-29 08:13:17 -0600 )edit

Would you have an idea of how to move this interactive marker to the tip of the needle?

whitecatshiro gravatar image whitecatshiro  ( 2020-04-29 08:18:13 -0600 )edit

2 Answers

Sort by » oldest newest most voted
0

answered 2020-05-14 08:21:35 -0600

rhaschke gravatar image

As Felix already pointed out, it is possible to have even multiple markers by defining multiple end_effectors:

<end_effector name="tool_mount" parent_link="tool_mount" group="hand" parent_group="arm"/>
<end_effector name="tool_tip" parent_link="tool_tip" group="hand" parent_group="arm"/>

image description

edit flag offensive delete link more
0

answered 2020-05-13 22:18:45 -0600

fvd gravatar image

updated 2020-05-13 22:45:01 -0600

At the moment, it looks like you have two options. For both of these you first need to define a link in your URDF at which you want the marker to be placed, e.g. your_robot_tool_point_link.

A) Without end effector group

Define your robot planning group using a chain of links like this in the SRDF, and have no end effector for this group:

<group name="your_robot">
    <joint name="your_robot_joint_1" />
    <joint name="your_robot_joint_2" />
    <joint name="your_robot_joint_3" />
    <joint name="your_robot_joint_4" />
    <joint name="your_robot_joint_5" />
    <joint name="your_robot_joint_6" />
    <chain base_link="your_robot_base_link" tip_link="your_robot_tool_point_link" />
</group>

The marker will be placed at the tip_link frame if no end effector has this group as its parent, or has one of the links set as its parent_link.

2) With end effector group

If you define an end effector group in your SRDF, the interactive marker will be placed at the parent_link, so you can write this:

 <end_effector name="your_robot_ee_name" parent_link="your_robot_tool_point_link" group="your_robot_ee_group" parent_group="your_robot" />

If you want multiple interactive markers on your robot, you can define multiple end_effector tags that use the same your_robot_ee_group. If you don't have a group, you can define this hacky one, although you can't use this to plan:

<group name="your_robot_dummy_group">
    <joint name="your_robot_joint_1" />
</group>
edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

2 followers

Stats

Asked: 2020-04-29 08:08:17 -0600

Seen: 120 times

Last updated: May 14 '20