ROS Answers: Open Source Q&A Forum - RSS feedhttps://answers.ros.org/questions/Open source question and answer forum written in Python and DjangoenROS Answers is licensed under Creative Commons Attribution 3.0Fri, 20 Jul 2018 07:20:37 -0500How do I determine the cartesian coordinates of the end effector if I know the joint angles?https://answers.ros.org/question/298027/how-do-i-determine-the-cartesian-coordinates-of-the-end-effector-if-i-know-the-joint-angles/I have the SRDF file which gives the joint angles of the robot for the different poses (using Moveit).
Now in order to do a pick and place task, I need to give the cartesian coordinates of the object in the frame of the robot. So, I moved my robot using Moveit to a position such that the end effector can grasp the object, so that I have the joint angles of the robot for performing the grasp. But, I need the position of the end effector with respect to the robot, when the robot is in that position. How do I determine that?Fri, 20 Jul 2018 05:50:40 -0500https://answers.ros.org/question/298027/how-do-i-determine-the-cartesian-coordinates-of-the-end-effector-if-i-know-the-joint-angles/Answer by Martin Günther for <p>I have the SRDF file which gives the joint angles of the robot for the different poses (using Moveit).
Now in order to do a pick and place task, I need to give the cartesian coordinates of the object in the frame of the robot. So, I moved my robot using Moveit to a position such that the end effector can grasp the object, so that I have the joint angles of the robot for performing the grasp. But, I need the position of the end effector with respect to the robot, when the robot is in that position. How do I determine that?</p>
https://answers.ros.org/question/298027/how-do-i-determine-the-cartesian-coordinates-of-the-end-effector-if-i-know-the-joint-angles/?answer=298036#post-id-298036The easiest way is to use `tf_echo`:
rosrun tf tf_echo <your_base_link> <your_gripper_frame>Fri, 20 Jul 2018 07:20:37 -0500https://answers.ros.org/question/298027/how-do-i-determine-the-cartesian-coordinates-of-the-end-effector-if-i-know-the-joint-angles/?answer=298036#post-id-298036