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wiki:tutorials:combine-joint-and-cartesian-move [2018/05/01 20:46]
kevin [The Code Explained]
wiki:tutorials:combine-joint-and-cartesian-move [2018/05/01 20:46] (current)
kevin [The Code Explained]
Line 102: Line 102:
  
 <code cpp> <code cpp>
-  //create the joint space controller+  // create the joint space controller
   giskard_msgs::​Controller joint_space_controller;​   giskard_msgs::​Controller joint_space_controller;​
    
-  ​//fill the joint space controller with values +  joint_space_controller.type = giskard_msgs::​Controller::​JOINT;
-  ​joint_space_controller.type = 1;+
   joint_space_controller.root_link = "​torso_lift_link";​   joint_space_controller.root_link = "​torso_lift_link";​
-  joint_space_controller.tip_link = "l_gripper_tool_frame";+  joint_space_controller.tip_link = "l_gripper_palm_link";
   joint_space_controller.p_gain = 1;   joint_space_controller.p_gain = 1;
   joint_space_controller.weight = 1;   joint_space_controller.weight = 1;
Line 115: Line 114:
   joint_space_controller.goal_pose.header.frame_id = "​base_link";​   joint_space_controller.goal_pose.header.frame_id = "​base_link";​
    
-  joint_space_controller.goal_state.name = {"torso_lift_joint", "​l_upper_arm_roll_joint", "​l_shoulder_pan_joint", "​l_shoulder_lift_joint",​ "​l_forearm_roll_joint",​ "​l_elbow_flex_joint",​ "​l_wrist_flex_joint",​ "​l_wrist_roll_joint"​};​+  joint_space_controller.goal_state.name = {"l_shoulder_pan_joint", "​l_upper_arm_roll_joint",​ "​l_shoulder_lift_joint",​ "​l_forearm_roll_joint",​ "​l_elbow_flex_joint",​ "​l_wrist_flex_joint",​ "​l_wrist_roll_joint"​};​
    
-  joint_space_controller.goal_state.position = {0, 1, 0.5, 0.2, 0, -0.8, -1, 0};+  joint_space_controller.goal_state.position = {0.5, 1, 0.2, 0, -0.8, -1, 0};
 </​code>​ </​code>​
 In this step we create the joint space controller just like in the [[wiki:​tutorials:​single-arm-joint-move | Moving a single arm in joint space]] tutorial. In this step we create the joint space controller just like in the [[wiki:​tutorials:​single-arm-joint-move | Moving a single arm in joint space]] tutorial.