Moveit: How to change robot's base_link pose in world frame

asked 2023-01-06 06:44:43 -0600

catmulti7
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I'm using a UR5 robot arm with ROS Noetic and MoveIt. When I load the ur5e.srdf (provide by UR company) and run the program, the robot arm's base is in the original point of world frame and in upright position. But in my real scene my UR5 arm is horizontal(rotate 90 degree from upright, the base is linked to a wall rather than the ground). I want to rotate the whole robot in world frame, but I can't find an API to do so. I noticed Virtual Joints in MoveIt Setup Assistant, but it's seems can't specify the pose of base_link. So my question is: Can I specify the pose of base_link in world frame? How can I do that?

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When I load the ur5e.srdf (provide by UR company) [..]

just a small correction: if the files / package(s) you refer to come from ros-industrial/universal_robot, those are community contributed and maintained. They are not provided by UR.

gvdhoorn ( 2023-01-08 03:30:48 -0600 )edit

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answered 2023-01-06 07:12:07 -0600

catmulti7
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I figure out how to solve this problem for a UR robot. Just modify the .xacro file. In .xacro file we can modify the origin pose of virtual joints

<!-- joints: main serial chain -->
<joint name="${prefix}base_link-base_link_inertia" type="fixed">
  <parent link="${prefix}base_link" />
  <child link="${prefix}base_link_inertia" />
  <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
       frames of the robot/controller have X+ pointing backwards.
       Use the joint between 'base_link' and 'base_link_inertia' (a dummy
       link/frame) to introduce the necessary rotation over Z (of pi rad).
  -->
  <origin xyz="0 0 0" rpy="0 0 ${pi}" />
</joint>

just change <origin xyz="0 0 0" rpy="0 0 ${pi}" /> to <origin xyz="0 0 0" rpy="0 ${pi/2} ${pi}" />can solve my problem.

But I still wonder if we can done this through in a programming way.