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Hello all, I am doing some arm planning about my robot. I have a point B(x2,y2,z2) in space where I want the end-effector A(x1,y1,z1) to go.

In my opinion, I had better get the quaternion of point B first, then get the IK using point B and quaternion, after that I can use arm_navigation_msgs::GetMotionPlan to do a plan.

but I am unsure how to produce the quaternions.

or any other good method to plan end-effector from A to B?

Thanks in advance.


Originally posted by karen0603 on ROS Answers with karma: 32 on 2014-11-23

Post score: 0

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May be this link will be helpful. You will have to use createquaternion function in tf namespace.


Originally posted by Bhargav with karma: 72 on 2014-11-23

This answer was ACCEPTED on the original site

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Original comments

Comment by karen0603 on 2014-11-23:
Thank you very much, I will try.

Comment by karen0603 on 2014-11-23:
I saw function:
static tf::Quaternion tf::createQuaternionFromRPY ( double roll, double pitch, double yaw
) [inline, static] I need first get roll, pitch, yaw, do you think there is a function in ROS which I can get roll, pitch ,yaw? Thank you

Comment by karen0603 on 2014-11-23:
Thanks for your answer. This link text is helpful. I have to get roll,pitch,yaw at the point B first, and then use the function what you have suggested to get quaternion.

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