
I solved it!
I used " std::vector orientation = move_group.getCurrentRPY(); " to get vector 3 elements roll pitch yaw. After that convert RPY to Quaternion and set this values to target_pose.
Originally posted by TardiSs with karma: 16 on 2019-06-19
This answer was ACCEPTED on the original site
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Original comments
Comment by gvdhoorn on 2019-06-20:
Wouldn't just looking up the TF to your EEF's frame get you this information? That would immediately be in a format that would be usable.
Comment by TardiSs on 2019-06-20:
I thought about that way but i do not know how to looking up the tf to eef's frame get this information?
Comment by gvdhoorn on 2019-06-20:
Would you know how to lookup a transform?
Comment by TardiSs on 2019-06-20:
No, I do not know. TT
Comment by gvdhoorn on 2019-06-20:
Then I would suggest to do the TF2 tutorials. The 3rd one ("writing a TF listener") should clarify things for you.
Comment by TardiSs on 2019-06-20:
Thank you so much!