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Is it possible to define a virtual Robot Arm Base Link in ROS MoveIt Planning Scene

asked 2021-11-22 07:28:25 -0500

Schnarchvin gravatar image

I am currently calculating possible robot positions from pointcloud data surrounding an target object which is to be manipulated by an mobile robot with a 6 DOF arm. I know how to plan trajectories using ROS MoveIt like described in:

My Question is, is it possible to "virutally" change the robots arm base link position and perform tracetory planning from that position. I'd like to use it to check if my previously calculated positions are useful.

Thank you in advance!

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answered 2021-11-24 12:28:23 -0500

Mike Scheutzow gravatar image

Are you asking about the transform from world -> base_link? Yes, ros will work fine if it is published dynamically to /tf. Typically you'll want to publish it a couple times a second. Just make sure that the transform is not defined in your urdf, or published by a static_transform_publisher.

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Thank you for your answer,

I am a beginner obviously. Maybe my formulation was not clear enough. I have the following situation. lets say my robot is located at the origin. i have a map node running and an object detection node. Now the detection node publishes an object at a location not reacheable by the arm without robot movement. what I do in that case is analysing the area around the found object and calculating some possible positions where the robot could be placed. these positions should be ideal regarding some criteria, including obviously that the robot arm can move its arm with its end effector to some "working points" at the object

In this situation, the robot still has not moved towards the obj, i would like to check my pre calculated positions by calculating a trajectory(or motion plan) by somehow saying moveit that the arm base ...(more)

Schnarchvin gravatar image Schnarchvin  ( 2021-11-24 13:28:32 -0500 )edit

If we're talking about a ros system that is controlling a real physical robot, then usually you'd set up an independent ros simulation to evaluate "what ifs". If the first ros system is already in simulation, you might be able to use just the one.

Make sure you understand the concept of Transform Frames. It's a very important part of what makes ros so useful.

Mike Scheutzow gravatar image Mike Scheutzow  ( 2021-11-25 07:27:08 -0500 )edit

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Asked: 2021-11-22 07:28:25 -0500

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Last updated: Nov 24 '21