Open WZHwerk5 opened 4 months ago
Try using the TransformedPointCloudTargetPoseGenerator
class instead. The poses for the reach study ultimately need to be defined relative to the base frame of the kinematic chain that you are using to solve IK, so this plugin will use TF to transform points defined in an arbitrary frame (object_link
) to the defined kinematic base frame (link0
). The PointCloudTargetPoseGenerator
just assumes the point cloud file is already defined in the kinematic base frame.
target_pose_generator:
- name: PointCloudTargetPoseGenerator
+ name: TransformedPointCloudTargetPoseGenerator
pcd_file: package://reach_ros/iiwa/config/chair_seat_col.pcd
points_frame: object_link
target_frame: link_0
Thanks, it has been solved!
Hi, I'm implementing this package to my own robot and to-be-processed workpiece. Since the pose of my workpiece would be changed frequently, I set the
collision_mesh_frame
as well aspoints_frame
fortarget_pose_generator
as my workpiece link(object_link
) in config file. However, the interactive markers based on point cloud still remain at the base frame of robot (link_0
), they are not aligned with my mesh model which is located correctly for robot processing. Could you please tell me how to fix this? Thanks in advance!Here is my config file:
Here is the visualization in Rviz:![Screenshot from 2024-03-04 10-46-26](https://github.com/ros-industrial/reach_ros2/assets/144252958/fd0fb7a5-2bbf-4a9d-942d-43915f1a28e0)