Unable to shift moveit from end effector frame to tool tip frame
Hi All,
I have a Doosan A0509s 6-DOF arm, and the entire setup is working fine with ROS.
However, IK for a target pose of the end-effector link is the end point of the robot (link 6 - point of attachment of the tool to the arm) when using moveit. What I need is to plan the goal in the "tool frame", for example, a frame located at the tool tip (or gripper tip, doesn't matter).
I can define this tool frame in the URDF and with a desired pose for the tool frame (say relative to the link 6 frame), but that is clearly changing only the outer visual and not the actual kinematics. How do I "back transform" this into a target pose for the end-effector link? Or is there any other method to do this?
What I tried - I tried changing the dimensions of the link 6 itself (replaced it with a simple cylinder with length = link 6 length + tool length), to see if the end point will move outward automatically, but it did not.
Any help will be very helpful. Thanks.
The "last link" is configurable. Have you created a move_group "group" (chain of links) that includes the tool_link? Have you selected that group?