Added tolerances for cartesian components. Hopefully that will work. May need to do some more screwing around but will have to test on RJ.
Setting up a test script to do moveit with cartesian space stuff.
Test script is sort of set up. Can we test this on the sim?
Fixed test.launch to have no respawn and test_moveit to be executable and switched it so it could run as a node.
Printing out things to know.
Cleaned up test_moveit.py for posting the question and pulled down RJ's internal URDF.
Testing moveit stuff with cpp. Also try taking off the grippers.
Should be ready to go with cartesian cpp stuff.
Fixing CMakeLists and package.xml. Not done yet. Probably need to include moveit stuff in those as dependencies. Maybe Eigen as well.
Fixed Eigen dependencies. May not be doing it QUITE right but it at least works. Now need to fix compilation problems.
Everything compiles and should work, but for some reason we cannot connect to the joint trajectory action server. Weird.
Needed to use the launch file, not rosrun. That was the issue. Using cpp did not change outcome of cartesian space planning.
Lets go back to doing IK. Test it with the python script.
IK not working. Results are not valid. Very strange. Could this be the problem with moveit also
Sweet, IK works. Problem before was dumb, using left instead of right and so the positions were invalid. Time to write up a more general version.
Wrote a pretty general setup for IK solver. Need to change the crane game stuff as well. If the push_one_arm stuff still works then we should be golden.
Should be ready to test tomorrow.
Missed a comma and was importing the wrong function to transform angles.
Did not import Pose or Quaternion messages. Imported now
Something is wrong with how we are calculating the pose. Need to pull out the proper x,y,z and whatnot for hand in base frame.