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frankaemika / franka_ros

ROS integration for Franka research robots
https://frankaemika.github.io
Apache License 2.0
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Does /franka_control/set_EE_frame service change the end effector of current move group ? #122 #284

Open Assets01 opened 2 years ago

Assets01 commented 2 years ago

Using /franka_control/set_EE_frame service can set NE_T_EE, thus changes 'panda_ee' frame in TF tree. I wonder when using moveit for planning after set_EE_frame, what happens to the defined end effector?

e.g., when using panda_manipulator move group, the default end effector is 'pand_hand_tcp', and 'panda_ee' frame is equal to 'pand_hand_tcp' frame, the planed cartesian path is for 'pand_hand_tcp', right? but after using set_EE_frame, the 'panda_ee' frame is changed, then the planned path is for the changed 'panda_ee' or still for 'pand_hand_tcp'?

upc-ghy commented 7 months ago

@Assets01 Hello, have you resolved the issue? I also encountered the same problem.