How do we set the end_effector_link and pose_reference_frame from within the launch file?
rpapallas opened this issue · comments
While working with Panda and MoveIt (using our custom launch files, based on the panda_moveit_config ones), we realised that in our scripts we have to set the following two lines to "tell" MoveIt the appropriate reference frame and end-effector link:
moveit_group.set_end_effector_link("panda_hand_tcp")
moveit_group.set_pose_reference_frame("panda_link0")
Although this solves the problem, we want to move this into the move_group.launch launch file. Is there any way we could set those two values through the launch file?
Thank you in advance.
There is no option to set those group-dependent parameters via the launch file.
moveit_group.set_end_effector_link("panda_hand_tcp")
The end-effector link defaults to the last link in a chain. Thus, just define your group correspondingly, which should already be the case for both groups, panda_arm and panda_manipulator.
moveit_group.set_pose_reference_frame("panda_link0")
The pose reference frame defaults to the robot's root frame.
Thank you, @rhaschke, for getting back to me. Just to confirm, there is no way we could set these even from a YAML or other config file? They are kind of implicitly defined through the model?
Yes, the defaults are defined by the SRDF essentially.
Thank you, @rhaschke.