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wiki:tutorials:single-arm-joint-move [2018/05/01 20:39]
kevin [The Code]
wiki:tutorials:single-arm-joint-move [2018/05/01 20:40] (current)
kevin [The Code Explained]
Line 74: Line 74:
   controller.threshold_value = 0.1;   controller.threshold_value = 0.1;
   controller.goal_pose.header.frame_id = "​base_link";​   controller.goal_pose.header.frame_id = "​base_link";​
- +  
-  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"​};​ +  controller.goal_state.name = {"​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"​};​ 
- +  
-  controller.goal_state.position = {0, 1, 0.5, 0.2, 0, -0.8, -1, 0}; +  controller.goal_state.position = {1, 0.5, 0.2, 0, -0.8, -1, 0}; 
    
   goal.controllers.push_back(controller);​   goal.controllers.push_back(controller);​