In Gazebo environment, how to pick an item added by spawnModel() function

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nan jiang 2020-7-24

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/570271-in-gazebo-environment-how-to-pick-an-item-added-by-spawnmodel-function

重新打开： Rena Berman 2020-10-12

The question is based on the example https://uk.mathworks.com/help/robotics/examples/pick-and-place-workflow-in-gazebo-using-ros.html

1) Start a ROS-based simulator for a KINOVA Gen3 robot and configure the MATLAB connection with the robot simulator.

2) I add an objective (coke can) by using the spawnModel() function as:

can = GazeboModel('coke_can','gazeboDB');

itemLocationXYZ = [0.32 -0.3028 0.5];

spawnModel(gazebo, can, [itemLocationXY(1) itemLocationXY(2) itemLocationXY(3)]);

3) I input the item location itemLocationXYZ into the the coordinator, and execute the robot to grabe the can according to the feeded information (coordinator). However, it seems like the inputed location does not fit the coordinate system in the robot.

coordinator.Parts = {};

part.centerPoint = [itemLocationXYZ(1), itemLocationXYZ(2), itemLocationXYZ(3)];

coordinator.Parts{i} = part;