diff --git a/core/python/test/rostest_trampoline.py b/core/python/test/rostest_trampoline.py index eb0e8cf1..562adf7b 100755 --- a/core/python/test/rostest_trampoline.py +++ b/core/python/test/rostest_trampoline.py @@ -7,7 +7,7 @@ import rostest from moveit_commander.roscpp_initializer import roscpp_initialize from moveit.task_constructor import core, stages from moveit.core.planning_scene import PlanningScene -from geometry_msgs.msg import Vector3Stamped, Vector3 +from geometry_msgs.msg import Vector3Stamped, Vector3, PoseStamped from std_msgs.msg import Header PLANNING_GROUP = "manipulator" @@ -75,7 +75,7 @@ class PyMoveRelX(stages.MoveRelative): def __init__(self, x, planner, name="Move ±x"): stages.MoveRelative.__init__(self, name, planner) self.group = PLANNING_GROUP - self.ik_frame = "tool0" + self.ik_frame = PoseStamped(header=Header(frame_id="tool0")) self.setDirection( Vector3Stamped(header=Header(frame_id="base_link"), vector=Vector3(x, 0, 0)) ) diff --git a/demo/scripts/compute_ik.py b/demo/scripts/compute_ik.py index 7258af9a..e910991e 100755 --- a/demo/scripts/compute_ik.py +++ b/demo/scripts/compute_ik.py @@ -40,7 +40,8 @@ generator.pose = PoseStamped(header=Header(frame_id="panda_link8"), pose=pose) # Wrap Cartesian generator into a ComputeIK stage to yield a joint pose computeIK = stages.ComputeIK("compute IK", generator) computeIK.group = group # Use the group-specific IK solver -computeIK.ik_frame = "panda_link8" # Which end-effector frame should reach the target? +# Which end-effector frame should reach the target? +computeIK.ik_frame = PoseStamped(header=Header(frame_id="panda_link8")) computeIK.max_ik_solutions = 4 # Limit the number of IK solutions # [propertyTut14] props = computeIK.properties