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I'm trying to work with a robot arm, and struggling to find anything to explain in detail how anything works. I have gone through the ROS documentation tutorials, and the PR2 moveit tutorial for example. Pose goals are used but never explained.

What do position and orientation variables refer to in this context? Position and orientation of what relative to what? What does the origin refer to, where is it specified and how is it retrieved?

The robot I'm working with has 7 joint angles. Are poses and joint specifications redundant, or can they be used together? It seems from my specification that both are simultaneously significant, though I would think the joint angles completely specify the position. Again, what does a pose goal position and orientation mean for a robot arm determined by 7 joint angles?

Thanks! -Jason

P.S. If you are thinking that I just don't know enough about robotics or ROS to understand, please be so kind as to direct me to where I can find information sufficient to actually LEARN (I'm an ECE PhD btw).

I don't understand the 4d orientation vector for example. I guess this is a quaternion? I don't know what it supposed to

Thanks very much for your reply. I'm ordering a couple of ROS programming books and a Robotics textbook which will hopef

Can someone explain geometry_msgs as used for robot arm poses e.g.? I'm trying to work with a robot arm, and struggling