How can I get the positions data of every joint ?

asked 2014-12-15 13:22:32 -0600

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Hi everyone,

I am doing arm trajectory planning. Now I am using motion_planning_rviz_plugin to display the trajectory of the arm. First I wrote program reference to link text and then RVIZ subscribe the topic "joint_path_display". I can display the trajectory just like the picture image description ! Now I want to get the position data of every joints which I circled with red colour on the image. How can I get the position information of every joint?

Thanks in advance

answered 2014-12-16 01:29:27 -0600

Wolf

7555 ●71 ●105 ●162

Set up a tf::TransformListener ( http://docs.ros.org/indigo/api/tf/htm... ) from the tf package ( http://wiki.ros.org/tf ) or tf2::BufferCore ( http://docs.ros.org/indigo/api/tf2/ht... ) from the tf2 package ( http://wiki.ros.org/tf2 ) -- depending on which tf version you use / your ROS distro supports and use the function lookupTransform ( http://docs.ros.org/indigo/api/tf/htm... or http://docs.ros.org/indigo/api/tf2/ht... ) .................

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Thank you, I will try to do what you have suggested. I am using Fuerte.

karen0603 ( 2014-12-16 10:07:25 -0600 )edit

then it'd be tf not tf2

Wolf ( 2014-12-16 10:28:28 -0600 )edit

Thank you very much, I am using planning of motion_planning_rviz_plugin to display the pose of every joint, I am wondering if I can get pose information directly from motion_planning_rviz_plugin::planning? Thank you

karen0603 ( 2014-12-16 10:41:10 -0600 )edit

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