## 函数 move_pose ### 功能 使机械臂在笛卡尔空间运动 注意：机械臂有自己的操作空间，move_pose调用机械臂逆解算法，可能没有逆解，最终返回错误码。所以需要自行判断move_pose的返回结果。 ### 参数 ``` def move_pose(self, x, y, z, roll, pitch, yaw) ``` 只需要传入x、y、z、roll、pitch、yaw即可。如果成功，则返回`Command has been successfully processed`，否则会返回报错信息： - 如超限位，则返回`Goal has been rejected : rot.z not in range.` - 如逆解失败，则返回`Goal has been aborted : Moveit failed to execute plan.` 各个轴的限位是： ``` position_limits: x: min: 0.00 max: 0.461 y: min: -0.461 max: 0.461 z: min: 0.00 max: 0.711 rpy_limits: roll: min: -3.14159 max: 3.14159 pitch: min: -3.14159 max: 3.14159 yaw: min: -3.14159 max: 3.14159 ``` ### 示例 ```python #!/usr/bin/env python import rospy from gauss_python_api.gauss_api import Gauss def test_move_pose(gauss): pose = [300.5/1000, 4.0/1000, 338.3/1000, 0, 0, 0] try: message = gauss.move_pose(*pose) except Exception as e: print e else: print message if __name__ == '__main__': rospy.init_node('gauss_move_pose') g = Gauss() test_move_pose(g) rospy.spin() ``` 对应的ROS action： ``` gauss@gauss-ros:~$ rostopic echo /gauss/commander/robot_action/goal header: seq: 1 stamp: secs: 1552893971 nsecs: 772053003 frame_id: '' goal_id: stamp: secs: 1552893971 nsecs: 771902084 id: "/gauss_move_pose-1-1552893971.772" goal: cmd: cmd_type: 2 joints: [] position: x: 0.3005 y: 0.004 z: 0.3383 rpy: roll: 0.0 pitch: 0.0 yaw: 0.0 shift: axis_number: 0 value: 0.0 Trajectory: trajectory_start: joint_state: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: '' name: [] position: [] velocity: [] effort: [] multi_dof_joint_state: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: '' joint_names: [] transforms: [] twist: [] wrench: [] attached_collision_objects: [] is_diff: False group_name: '' trajectory: joint_trajectory: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: '' joint_names: [] points: [] multi_dof_joint_trajectory: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: '' joint_names: [] points: [] pose_quat: position: x: 0.0 y: 0.0 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 saved_position_name: '' saved_trajectory_id: 0 tool_cmd: tool_id: 0 cmd_type: 0 gripper_close_speed: 0 gripper_open_speed: 0 activate: False gpio: 0 ```