python机械手标定_机械手姿态的获取,ros,臂,当前,位姿

#!/usr/bin/env python

# -*- coding: utf-8 -*-

import rospy, sys

import moveit_commander

from geometry_msgs.msg import Pose

class MoveItCartesianDemo:

def __init__(self):

# 初始化move_group的API

moveit_commander.roscpp_initialize(sys.argv)

# 初始化ROS节点

rospy.init_node('moveit_cartesian_demo', anonymous=True)

# 初始化需要使用move group控制的机械臂中的arm group

arm = moveit_commander.MoveGroupCommander('manipulator')

# 获取终端link的名称

end_effector_link = arm.get_end_effector_link()

# 获取当前位姿数据做为机械臂运动的起始位姿

start_pose = arm.get_current_pose(end_effector_link).pose

rospy.loginfo(start_pose)

if __name__ == "__main__":

try:

MoveItCartesianDemo()

except rospy.ROSInterruptException:

pass