Explicitly set orientations in poses

moveit · Jul 31, 2023 · 9a96b13 · 9a96b13
1 parent 443b22d
commit 9a96b13
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diff --git a/...ce_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst b/...ce_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst
@@ -166,6 +166,7 @@ Open ``mtc_node.cpp`` in your editor of choice, and paste in the following code.
       geometry_msgs::msg::Pose pose;
       pose.position.x = 0.5;
       pose.position.y = -0.25;
+      pose.orientation.w = 1.0;
       object.pose = pose;
 
       moveit::planning_interface::PlanningSceneInterface psi;
@@ -826,6 +827,7 @@ We then create a ``ComputeIK`` stage and pass it our ``GeneratePlacePose`` stage
           geometry_msgs::msg::PoseStamped target_pose_msg;
           target_pose_msg.header.frame_id = "object";
           target_pose_msg.pose.position.y = 0.5;
+          target_pose_msg.pose.orientation.w = 1.0;
           stage->setPose(target_pose_msg);
           stage->setMonitoredStage(attach_object_stage);  // Hook into attach_object_stage
 

diff --git a/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp b/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp
@@ -58,6 +58,7 @@ void MTCTaskNode::setupPlanningScene()
   geometry_msgs::msg::Pose pose;
   pose.position.x = 0.5;
   pose.position.y = -0.25;
+  pose.orientation.w = 1.0;
   object.pose = pose;
 
   moveit::planning_interface::PlanningSceneInterface psi;
@@ -287,6 +288,7 @@ mtc::Task MTCTaskNode::createTask()
       geometry_msgs::msg::PoseStamped target_pose_msg;
       target_pose_msg.header.frame_id = "object";
       target_pose_msg.pose.position.y = 0.5;
+      target_pose_msg.pose.orientation.w = 1.0;
       stage->setPose(target_pose_msg);
       stage->setMonitoredStage(attach_object_stage);  // Hook into attach_object_stage