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Lukas97
Posts: 4 Apprentice
How to change tool center point in moveit |
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Lukas97
Posts: 4 Apprentice
in Programming
Hi,
i have problems to remote control my real robot with RViz and geometry_msgs.msg.Pose().
My first problem is that my world coordinate system is exactly opposite (180 degrees rotated by z) to the coordinate system of the robot. Thus all positions are x = -x and y = -y and I come out on the wrong side.
My second problem is the tcp of the gripper.
I am using the ur3e with the hand-e and since adding the gripper, moveit changed my tcp to the wrist_3_link. So all my input geometry_msgs.msg.Pose() are on the wrong place and with the wrong orientation. Can I somehow change it back to tool0 of the arm or to the top of the gripper?
Thanks,
Lukas
My first problem is that my world coordinate system is exactly opposite (180 degrees rotated by z) to the coordinate system of the robot. Thus all positions are x = -x and y = -y and I come out on the wrong side.
My second problem is the tcp of the gripper.
I am using the ur3e with the hand-e and since adding the gripper, moveit changed my tcp to the wrist_3_link. So all my input geometry_msgs.msg.Pose() are on the wrong place and with the wrong orientation. Can I somehow change it back to tool0 of the arm or to the top of the gripper?
Thanks,
Lukas
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