Question to define the point when using geometry_msgs.msg.Pose()

Course Support ROS Manipulation In 5 Days
1

Hi

In demo 3.1, we move the fetch robot by setting the target position. But I would like to know which point’s information is got when using the geometry_msgs.msg.Pose() and where we define that point?

pose_target = geometry_msgs.msg.Pose()
pose_target.orientation.w = 1.0
pose_target.position.x = 0.96
pose_target.position.y = 0
pose_target.position.z = 1.18
group.set_pose_target(pose_target)
2

Hello @youngyangcs,

The Pose makes reference to the end effector (the device at the end of a robotic arm), which is defined when you create the MoveIt package using the Setup Assistant (in the End Effector section).

3

Thanks for your answer. Is that point the finger tip of the end effector or the middle center of the end effector?