Cartesian coordinate reference for moving the robot

[progettista6]

Hello,

in my application, I need to integrate a camera that detects an aruco marker and send the robot a cartesian coordinate reference (as geometry_msgs::PoseStamped) depending on it. The robot should move in this position.

How can I achieve this result?

Thank you and best regards

[miaokeqin]

You first need to calibrate to determine the relationship between the camera and the robotic arm. This also has a ready-made function package. There is a special package for reading aruco marker, and you can directly run the launch file.

[progettista6]

Once I had calibrated the camera and read the ARUCO marker, I thought of using the ROS services InverseKinematic and JointMove in combination. Is there a more direct way to command a position via geometry_msgs::PoseStamped?

Thank you

[miaokeqin]

Is there a problem if you directly use moveit to pass the value of the ARUCO marker to let the robotic arm move? This is executed through PoseStamped