Find the Position and Orientation of a point in Rviz

Hi Everyone,

I would like to ask how to find a position and orientation of a point on a robot inside the baselink coordinate frame in Rviz. I have a 6 dof robotic arm, and I would like to look at the position of my robot's end effector on baselink.

Best, Ziywang

Asked by ziywang50 on 2022-09-02 20:03:52 UTC

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Answers

Given all 6 joint angles, you can get the pose (position + orientation) of the end-effector w.r.t. the robot base using Forward Kinematics. I am sharing following references to understand the theory behind it:

http://motion.cs.illinois.edu/RoboticSystems/Kinematics.html
https://robocademy.com/2020/04/21/robot-kinematics-in-a-nutshell/

BTW, if you have the URDF model of your robotic arm, you can use ROS to do the kinematics for you. In this case, you can use the RViz to see the pose in UI.

Asked by ravijoshi on 2022-09-07 22:17:05 UTC