End-Effector Visualization for move group 'manipulator' wrongly placed

moveit / panda_moveit_config

The Panda robot is the flagship MoveIt integration robot

http://docs.ros.org/kinetic/api/moveit_tutorials/html/

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End-Effector Visualization for move group 'manipulator' wrongly placed #101

Closed gollth closed 2 years ago

gollth commented 2 years ago

Details

If I want to plan with the manipulator move group and choose this in the RVIZ Motion Planning Plugin, the Interactive Marker Gizmo shows at the wrong link, namely at panda_link8 with the 45° rotation: Screenshot from 2022-02-09 09-48-03

Expected Behaviour

The Gizmo shows in a way, that I can drag the EE around nicely:

Screenshot from 2022-02-09 09-53-55

Steps to Reproduce

roslaunch panda_moveit_config demo.launch

and choose manipulator in RVIZ Motion Planning Plugin.

rhaschke commented 2 years ago

Fixed via c8950cc4cf68251e8959d6b6c7de221de2f4bdd9.