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As I have found out, doing transformations as suggested in my question isn't the best way to go about this problem and a better way is to add the camera_frame as a sort of gripper or just an end effector extension in the srdf file. So what you do is create a group in the srdf as such:
<group name="camera">
<link name="camera_frame" />
</group>
and afterwards, define an end effector:
<end_effector name="camera_frame" parent_link="wrist_3_link" group="camera" parent_group="manipulator" />
The parent_link is the link of the robot, which the camera is attached to in the xacro/urdf. Now you can just set the end effector in code with
move_group.setEndEffectorLink("camera_frame");
and use a single transformation to move the camera around a point of interest.