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The first, I am so sorry because my english is not good.

Next, I'm working with robot arm 5DOF. I want to move end effector pose. i can move along x y z asix but i dont know how to get values orientation of eef?

i got pose with getCurrentPose() and maybe i can get orientation with getCurrentRPY()???


Originally posted by TardiSs on ROS Answers with karma: 16 on 2019-06-19

Post score: 0

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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

Post score: 0


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!

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