HOW to set orientation for my robot?

[9492...@qq.com]

I want to move my robot to a position,but i can't understand the orientation ,what's it mean and how to set it?How can i set a pose? The follow is my core:

#include <ros/ros.h>

#include <moveit/move_group_interface/move_group.h>

int main(int argc, char **argv)

{

  ros::init(argc, argv, "lesson_move_group");

  // start a background "spinner", so our node can process ROS messages  

//  - this lets us know when the move is completed 

 ros::AsyncSpinner spinner(1);  

spinner.start();  

geometry_msgs::Pose target_pose;  

 target_pose.position.x = 0.374;

   target_pose.position.y = 0.2;

   target_pose.position.z = 0.63;

 target_pose.orientation.x = 0.5; 

 target_pose.orientation.y = 0.5; 

 target_pose.orientation.z = 0.70710678;  

 target_pose.orientation.w = 0.0;  

moveit::planning_interface::MoveGroup group("manipulator");  

group.setPoseTarget(target_pose); 

 group.move();

}

   

[Qiang Qiu]

Hi, the orientation is defined by quaternion, you can refer to 

      Quaternions and spatial rotation (https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation)

or these Blogs in Chinese (you use the qq.com, so I think you are Chinese):

     http://blog.sina.com.cn/s/blog_557d254601018dfv.html

     http://www.cnblogs.com/wqj1212/archive/2010/11/21/1883033.html

Any questions you have (after reading these materials), can be post here.

[9492...@qq.com]

Thank you , I learn a lot, but I want get a group of orientation as soon as possible, not calculating by a series of formula.I want to grab a object by a gripper,which has driffent poses.So,the pose of robot tool0 must be determined.what's more , the position affects the values of the orientation.I set some poses but it can't get it.  

在 2016年3月3日星期四 UTC+8下午3:53:40，9492...@qq.com写道：

[Qiang Qiu]

Hi, as illustrated in figure1, your object recognition program can determine the poseture of object {O} in the base frame of the robot {W}. Besides, the grasp frame {H} is defined in {O} frame. and then ,you can calculate the grasp poseture (position and orientation) in the base frame {W}, which is what you want.

Best Regards!

[Qiang Qiu]

    Figure 1, re-attached.

On Thursday, March 3, 2016 at 3:53:40 PM UTC+8, 9492...@qq.com wrote:

[9492...@qq.com]

Thank you very much

在 2016年3月14日星期一 UTC+8上午9:19:32，Qiang Qiu写道：

[9492...@qq.com]

Are there some books or doc. about MOVEIT ? I can't understand MOVEIT totally, I just change other program or learnning from ROS-I tutorial.

在 2016年3月14日星期一 UTC+8上午9:19:32，Qiang Qiu写道：

    Figure 1, re-attached.

[Qiang Qiu]

Sorry for my late reply.

There is not too many documents about MoveIt, but you can go through the tutorials (http://moveit.ros.org/documentation/tutorials/) first. After that, the code API (http://moveit.ros.org/code-api/) can be very helpful. What's more, this google group is a good place to ask for help.