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Retrieve end effector pose in MoveIt

asked 2013-10-08 22:16:51 -0500

Flavian gravatar image

updated 2013-11-14 10:41:00 -0500

tfoote gravatar image

I am creating a node that has to publish the pose (and if possible twist) of the end effector.

My robot publishes a tf which I think could be used in this fashion. But I would also like to benefit from MoveIt's high-level API which allows to give names to the end effectors.

Additional question: if you have anything for the end effector twist, that would be very helpful.

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With twist do you mean how it is oriented or how it is moving (i.e. velocities)?

dornhege gravatar image dornhege  ( 2013-10-09 01:52:27 -0500 )edit

Yes, as in geometry_msgs::Twist

Flavian gravatar image Flavian  ( 2013-10-09 02:01:13 -0500 )edit
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@Flavian has also posted this question here, see more answers in this thread: https://groups.google.com/d/msg/moveit-users/zFMzGqkVBuc/cO7Pzc34qVMJ

Martin Günther gravatar image Martin Günther  ( 2013-10-09 05:04:30 -0500 )edit

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answered 2013-10-10 02:22:54 -0500

Flavian gravatar image

updated 2013-10-10 02:49:08 -0500

As stated in here by Simon Jansen:

Assuming you're using the high-level movegroup interface, could you not do something like this:

moveit::planning_interface::MoveGroup *group; 
group = new moveit::planning_interface::MoveGroup("arm");
group->setEndEffectorLink("hand_left");
geometry_msgs::PoseStamped current_pose =
group->getCurrentPose();

but this is if you want to define a new group. If you want to use the group linked to your previous end-effector you should do:

moveit::planning_interface::MoveGroup group("your end-effector");
group.getCurrentPose();
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answered 2013-10-09 01:51:51 -0500

dornhege gravatar image

Is your end effector a link with a frame id?

Then you already have everything. Just get the tf transform for this frame_id. This gives you a pose that contains position and orientation.

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There is a precise notion of end effector in the MoveIt API (http://moveit.ros.org/wiki/PR2/Setup_Assistant/Quick_Start#STEP_6:_Label_End_Effectors) which I would need to use. Plus, in the MoveIt API, if you have a link you can get the FK. However I fail at seeing the big picture.

Flavian gravatar image Flavian  ( 2013-10-09 02:03:41 -0500 )edit
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I agree with @dornhege. Just use TF, using MoveIt only for this is overkill.

Martin Günther gravatar image Martin Günther  ( 2013-10-09 05:06:25 -0500 )edit

While I agree with your point, TF doesn't semantically take advantage of the end effector naming from MoveIt. Say you have at least two end effectors that you defined (e.g fingers on a hand) and your node accept an "end_effector" property, it's easier to switch from a user point of view.

Flavian gravatar image Flavian  ( 2013-10-09 08:11:02 -0500 )edit

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Asked: 2013-10-08 22:16:51 -0500

Seen: 7,616 times

Last updated: Oct 10 '13