IK solution failed and the robot can't move to the Entry point

xiaosnowqiang
Sun, 25 Sep 2022 05:59:35 +0000
Development

Hello guys,I have go throught the ROSIGTLTutorial-ISMR2019 recently, after follow the steps of Fiducial Registration Wizard the relationship between the robot and the patient
on rviz and 3D Slicer are Confirmed.

So i continue the tutorial to execution of the plan
（1）copy the plan and rename as Plan Reference
（2）copy the ReferenceToRas and rename as RasToFeference and invert the transform

（3）Open “RasToReference” transform in “Transforms” and Apply “RasToReference” transform to “Plan-Reference”

When all the steps done，the 3D Slicer sense as show below

And finally Send “Plan-Reference” in “I/O Configuration”，and from the ros node message the Plan is sent to ROS, but the robot didn’t moves to the
entry, and then the target the message like the below picture

And i also change the OMPL planner in Rviz and Moveit but it also can’t solve .
Can someone tell me why ,and thanks in advance.
Best wishes,
-Jian

2 posts - 2 participants