Problem in getting robot's end-effector pose

[pulkit singh tak]

Hi all

I am using ROS-Indigo and Ubuntu 14.04. I was trying to get the current pose of the robot's end-effector, but instead i always ended up getting the home pose of the end-effector. Below is the code snippet: 

  ros::init(argc, argv, "demo1_node");

  ros::NodeHandle node_handle;

  ros::AsyncSpinner spinner(1);

  spinner.start();

  sleep(2.0);

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

  moveit::planning_interface::PlanningSceneInterface planning_scene_interface;

  

  ros::Publisher display_pubhlisher = node_handle.advertise<moveit_msgs::DisplayTrajectory>("/move_group/display_planned_path", 1, true);

  ROS_INFO("Refernce frame: %s", group.getPlanningFrame().c_str());

  ROS_INFO("End Effecttor Link: %s", group.getEndEffectorLink().c_str());

  ROS_INFO("Planning Frame: %s", group.getPlanningFrame().c_str());

  group.setGoalPositionTolerance(0.00001);

  group.setGoalOrientationTolerance(0.001);

  geometry_msgs::Pose pose1;

  pose1.orientation.w = 0.54822;

  pose1.orientation.x = -0.16945;

  pose1.orientation.y = 0.78237;

  pose1.orientation.z = 0.24216;

  pose1.position.x = 0.23974;

  pose1.position.y = 0.088103;

  pose1.position.z = 0.89513;

  group.setPoseTarget(pose1);

 

  moveit::planning_interface::MoveGroup::Plan my_plan;

  group.plan(my_plan);

  group.move();

  sleep(15.0);

  geometry_msgs::PoseStamped currentPose = group.getCurrentPose("end_eff_link");  // Always returns in end_effector_link

  ROS_INFO_STREAM( "Current pose from moveGroup:  " << currentPose.pose );

  

can somebody please help how else to find the pose of the robot'e end-effector??

Thanks  

[Patrick Goebel]

Hi Pulkit,

I haven't worked with the C++ API for MoveIt (my book uses the Python API).  But I see you posted your question to the moveit-users forum which is what I was going to suggest.

--patrick