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What joint target values does MoveIt output?

asked 2022-01-27 07:38:39 -0500

adrgru
31 ●3 ●5 ●7

updated 2022-01-27 07:41:44 -0500

Hello, I am quite new to ROS and MoveIt and I am trying to understand how MoveIt outputs the values for the joint configurations. For example, I have a free revolute joint in my robot and I want to know if MoveIt sets the values for the joint from 0-360 deg or from -180 to +180. (or +/-radians) I need to know this because I'm working with Unity and my robot sometimes moves strangely (does multiple complete rotations instead of a short rotation) and I think it's because Unity is misinterpreting MoveIt's trajectory response.

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answered 2022-01-27 07:54:21 -0500

abhishek47
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updated 2022-01-27 07:54:42 -0500

want to know if MoveIt sets the values for the joint from 0-360 deg or from -180 to +180. (or +/-radians)

The range is [-pi, pi]. See:

#q268375's accepted answer
constructor of RevoluteJointModel():

variable_bounds_[0].min_position_ = -boost::math::constants::pi<double>();
variable_bounds_[0].max_position_ = boost::math::constants::pi<double>();

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Asked: 2022-01-27 07:38:39 -0500

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Last updated: Jan 27 '22

What joint target values does MoveIt output? edit

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What joint target values does MoveIt output?