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2020-09-16 14:47:16 -0500 asked a question Unable to connect to move_group action server 'move_group' within allotted time

Unable to connect to move_group action server 'move_group' within allotted time I am currently attempting to run a pytho

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rqt_joint_trajectory_controller crashes when selection controller manager Whlist $ roscore and $ roslaunch kuka_rsi_hw_i

2020-09-10 08:39:10 -0500 commented answer Changing the orientation of a pose goal in rviz (python)

Thankyou, this has been very helpful

2020-09-10 04:43:28 -0500 marked best answer Changing the orientation of a pose goal in rviz (python)

Coming off the back of the rviz tutorials, I've been trying to control the panda arm using only the pose goal but cannot change it's orientation. Changing the "pose_goal.orientation.w" value seems to do nothing and although I've read that rviz uses quaterion values to define orientation I can't understand how this translates to what I'd write in my code to achieve a specific orientation. My goal is to be able to set an orientation for the arm based on coordinates in Cartesian space and either values for pitch/roll/yaw or a direction vector

Here is the part of my code defining the pose goal

def go_to_pose_goal(self):

move_group = self.move_group

print("Starting planning to go to pose goal.\n")
pose_goal = geometry_msgs.msg.Pose()


pose_goal.orientation.w = 1
pose_goal.orientation.x = 1
pose_goal.orientation.y = 1
pose_goal.orientation.z = 1
pose_goal.position.x = 1
pose_goal.position.y = -0.518
pose_goal.position.z = 0.8

move_group.set_pose_target(pose_goal)

plan = move_group.go(wait=True)
move_group.stop()
move_group.clear_pose_targets()

current_pose = self.move_group.get_current_pose().pose
return all_close(pose_goal, current_pose, 0.01
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2020-09-01 14:23:55 -0500 asked a question Changing the orientation of a pose goal in rviz (python)

Changing the orientation of a pose goal in rviz (python) Coming off the back of the rviz tutorials, I've been trying to