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Hi, I'm working with the ur10 model and I'm trying to get a way of controlling it by setting a pose for the end-effector. However I have no clue on how to do it. I tried the tutorial of movit regarding kinematics. But in the tutorial they calculate the IK from the value calculated from the DK for the end-effector but I want to set manually the values of the end-effector. So I tried to do the same way as they do for the joints:

kinematic_state->setRandomPosition(joint_model_group);

but had no success in finding a similar function for the links as there are for setting the joint values. Is there any other way I can do this, in order I can manually write the x,y,z values?


Originally posted by JuanTelo on ROS Answers with karma: 9 on 2018-02-08

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You can use the setFromIK method


Originally posted by jrgnicho with karma: 486 on 2018-02-08

This answer was ACCEPTED on the original site

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Original comments

Comment by JuanTelo on 2018-02-08:
@jrgnicho that seems the way to go but can you help me here, I defined the pose through geometry_msgs::Pose end target;

but now how can turn it into const Eigen::Affine3d & pose, as required in the documentation?

Comment by jrgnicho on 2018-02-08:
There are multiple flavors of that function, one of them takes a geometry_msgs::Pose type. However if you need to convert between various types within a ROS program you can always use the this conversion utility header

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