Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

MoveIt End effector moves correctly but reports back different orientation

I've got a simulation setup of the Kuka KR6 Agilus running in Gazebo using MoveIt for movement.

In order to move the robot I'm calling MoveGroupInterface::setPoseTarget and MoveGroupInterface::asyncMove(), and to get the current pose I'm calling MoveGroupInterface::getCurrentPose.

There is an inconsistency between the pose that is set and the pose that is reported from MoveIt. The image below shows the pose I'm requesting and the pose I'm getting after the robot has reached its pose.

Pose

I guess the pose is correct, but why the difference in the quaternions representing orientation? I don't specify the end_effector_link in any calls to setPoseTarget() or getCurrentPose().