如何设置机器人的orientation
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寒冬夜行人54 一代型 13396 7
我有一台六轴机器人，想让他到达指定地点，具有固定的位姿，然而我只能到到达固定的三维坐标点（position），不能设置它的位姿坐标（orientation）。请问该如何设置它的位姿坐标？下面是我的程序：
#include <ros/ros.h>
#include <moveit/move_group_interface/move_group.h>
int main(int argc, char **argv){
ros::init(argc, argv, "lesson_move_group");
// start a background "spinner", so our node can process ROS messages
// - this lets us know when the move is completed
ros::AsyncSpinner spinner(1);
spinner.start();
geometry_msgs::Pose target_pose;
target_pose.position.x = 0.5
target_pose.position.y = 0.5
target_pose.position.z = 0.5
target_pose.orientation.x = 0.5;
target_pose.orientation.y = 0.4;
target_pose.orientation.z = 0.3;
target_pose.orientation.w = 0.0;
;
moveit::planning_interface::MoveGroup group("manipulator");
group.setPoseTarget(target_pose);
group.move();
}
#include <ros/ros.h>
#include <moveit/move_group_interface/move_group.h>
int main(int argc, char **argv){
ros::init(argc, argv, "lesson_move_group");
// start a background "spinner", so our node can process ROS messages
// - this lets us know when the move is completed
ros::AsyncSpinner spinner(1);
spinner.start();
geometry_msgs::Pose target_pose;
target_pose.position.x = 0.5
target_pose.position.y = 0.5
target_pose.position.z = 0.5
target_pose.orientation.x = 0.5;
target_pose.orientation.y = 0.4;
target_pose.orientation.z = 0.3;
target_pose.orientation.w = 0.0;
;
moveit::planning_interface::MoveGroup group("manipulator");
group.setPoseTarget(target_pose);
group.move();
}
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