# UR5 communication issue with pc using ur ros driver

**URL:** <https://forum.universal-robots.com/t/ur5-communication-issue-with-pc-using-ur-ros-driver/15310>\
**Category:** ROS\
**Created:** [July 6, 2021, 10:04am UTC](https://forum.universal-robots.com/t/ur5-communication-issue-with-pc-using-ur-ros-driver/15310 "2021-07-06T10:04:25Z")\
**Posts on this page:** 1\
**Showing post:** 7

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**Author:** ![anon81261137](https://avatars.discourse-cdn.com/v4/letter/a/f19dbf/32.png) [@anon81261137](https://forum.universal-robots.com/u/anon81261137)\
**Post date:** [July 8, 2021, 4:35am UTC](https://forum.universal-robots.com/t/ur5-communication-issue-with-pc-using-ur-ros-driver/15310/7 "2021-07-08T04:35:25Z")

</div>

We are doing camera and ur5 integration (As discussed in this [topic](https://forum.universal-robots.com/t/ur5-vision-base-pick-and-place/15017/9)) .

we are using following transformation method to pass camera coordinate to robot base coordinate.

Following codes are used to transform camera coordinate to base coordinate, here point1 is the object coordinates from camera

```auto
def callback(point1):
	print("camera_coordinate",point1)
	result_1 = []
	trans = 0
	rot = 0
	listener = tf.TransformListener()
	while not rospy.is_shutdown():
		try:
			(trans,rot) = listener.lookupTransform('/tool0', '/camera_link', rospy.Time(0)) 
			break
		except :
			continue

	matrix2=np.dot(translation_matrix(trans), quaternion_matrix(rot))
	point1[0][0] = -point1[0][0]
	point1[1][0] = -point1[1][0]
	point1[2][0] = point1[2][0]
	
        result_1 = np.matmul(np.array(matrix2),point1)
	result_1[0][0]=-result_1[0][0]
	result_1[1][0]=-result_1[1][0]
        print("object coordinates",result_1)
        move_to_pos_1(result_1)
	return result_1

```

And the robot move function to feed coordinate to robot

```auto
def move_to_pos(Goal_x,Goal_y,Goal_z):
    """ This function shows an example of how to move the UR5 to a position with MoveIt"""
    pose_goal = group.get_current_pose().pose
    print("Current location:")
    print(pose_goal)
    pose_goal.position.x = Goal_x
    pose_goal.position.y = Goal_y
    pose_goal.position.z = Goal_z
    pose_goal.orientation.x = 0.923274429142
    pose_goal.orientation.y = -0.383710458579
    pose_goal.orientation.z = -0.00432136844868
    pose_goal.orientation.w = 0.0176617735317
    print("Pose Goal:")
    print(pose_goal)
    group.set_pose_target(pose_goal)
    plan= group.plan()
    rospy.sleep(5)	
    group.go(wait=True)
    group.clear_pose_targets()

```

The values from the camera for object detection is proper. The robot is not moving to exact object coordinate. for every object position the position error is varying.

Please let me know whether we are doing with right way

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