arm_v1_script

Author: ipa-buildbot

cob_bringup/ros/launch/sim.launch

@@ -8,7 +8,7 @@
 	<include file="$(find cob_gazebo)/ros/launch/robot.launch" />
 
 	<!-- start ik_solver for arm -->
-	<node pkg="cob_manipulator" type="cob_ik_solver_kdl" name="cob_ik_solver" ns="arm_controller" cwd="node" respawn="false" output="screen"/>
+	<node pkg="cob_manipulator" type="cob_ik_solver_kdl" name="cob_ik_solver" ns="arm_controller" cwd="node" respawn="false" output="screen"/> 
 
 	<!-- start cartesian interface -->
 	<rosparam command="load" ns="arm_controller" file="$(find cob_arm)/ros/launch/$(env ROBOT).yaml"/>

cob_script_server/src/simple_script_server.py

@@ -718,7 +718,7 @@ def move_cart_rel(self, component_name, parameter_name=[[0.0, 0.0, 0.0],[0.0, 0.
 		# convert to Pose message
 		pose = PoseStamped()
 		pose.header.stamp = rospy.Time.now()
-		pose.header.frame_id = "/arm_7_link"
+		pose.header.frame_id = "/arm_6_link"
 		#pose.header.frame_id = "/sdh_palm_link"
 		pose.pose.position.x = param[0][0]
 		pose.pose.position.y = param[0][1]