Ask Your Question

move_group.get_current_pose().pose different from planned and executed pose

asked 2021-08-01 04:53:16 -0500

pak gravatar image

updated 2021-08-01 06:47:44 -0500

Hi everybody.

I've a robot arm mouted on a metal support (0.3 x 0.3 x 0.22 m). I've created an urdf with:

  • wolrd link
  • metal_support link
  • robot arm

I've loaded it in the robot_description param for moveit. I'm also publishing tf_static:

  • from world to metal_base
  • from metal_base to robot_base

Of course I've also the robot_state_publisher. All seems to work fine in moveit when I plan and execute a target pose: the robot arm changes its configuration so plan is executed without any error. Unfortunately when the execution stops move_group.get_current_pose().pose returns a different pose wrt the planned and executed one. The difference is not random in fact is 0.22 meters that is the metal_support height so it seems that it plans wrt the robot base and get the pose wrt the world link.

Could someone give me some suggestion to get a coherent pose possibly wrt the world link? I hope I explained myself. thank you in advance

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2021-08-01 11:07:43 -0500

Mike Scheutzow gravatar image

It's been a while since I programmed for moveit, but there used to be a method in move_group called setPoseReferenceFrame(). As you already figured out, the default frame for a goal pose is base_link.

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

1 follower


Asked: 2021-08-01 04:53:16 -0500

Seen: 20 times

Last updated: Aug 01