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RethinkRobotics / sawyer_moveit

MoveIt! configurations and plugins for the Sawyer robot.
http://sdk.rethinkrobotics.com/intera/MoveIt_Tutorial
Apache License 2.0
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robot position and joint angles does not get updated #27

Closed Dhiraj100892 closed 6 years ago

Dhiraj100892 commented 7 years ago

Hi,

I'm using (group =) moveit_commander.MoveGroupCommander("right_arm") to get the group. I'm able to access the group. But when I do group.get_current_joint_values() , I get all the values equal to zero, irrespective of the configuration of the robot. Also when I try to do group.get_current_pose().pose, I get the pose corresponding to the zero joint angles in any configuration of the arm. But the rviz moveit visualizer is working fine ( it is showing the present configuration of the robot).

Can you guide me how to resolve this issue?

IanTheEngineer commented 7 years ago

Based on your description, it seems you're running into the remapping of /joint_states to /robot/joint_states that moveit_commander requires. See this thread of brr-users-group for more details:

rosrun moveit_commander moveit_commander_cmdline.py joint_states:=/robot/joint_states