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[moveit_servo] fix: ensure ee_pose on planning_frame #3046

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merged 2 commits into from
Oct 31, 2024
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[moveit_servo] fix: ensure ee_pose on planning_frame #3046

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[moveit_servo] fix: ensure ee_pose on planning_frame
patrickKXMD Oct 30, 2024
b31e1b9
Merge branch 'main' into main
sea-bass Oct 31, 2024
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3 changes: 2 additions & 1 deletion moveit_ros/moveit_servo/src/utils/command.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -245,7 +245,8 @@ JointDeltaResult jointDeltaFromPose(const PoseCommand& command, const moveit::co
Eigen::Vector<double, 6> cartesian_position_delta;

// Compute linear and angular change needed.
const Eigen::Isometry3d ee_pose{ robot_state->getGlobalLinkTransform(ee_frame) };
const Eigen::Isometry3d ee_pose{ robot_state->getGlobalLinkTransform(planning_frame).inverse() *
robot_state->getGlobalLinkTransform(ee_frame) };
const Eigen::Quaterniond q_current(ee_pose.rotation());
Eigen::Quaterniond q_target(command.pose.rotation());
Eigen::Vector3d translation_error = command.pose.translation() - ee_pose.translation();
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