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How can I get the positions data of every joint ?

asked 2014-12-15 13:22:32 -0500

karen0603 gravatar image

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

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answered 2014-12-16 01:29:27 -0500

Wolf gravatar image

Set up a tf::TransformListener ( ) from the tf package ( ) or tf2::BufferCore ( ) from the tf2 package ( ) -- depending on which tf version you use / your ROS distro supports and use the function lookupTransform ( or ) .................

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

karen0603 gravatar image karen0603  ( 2014-12-16 10:07:25 -0500 )edit

then it'd be tf not tf2

Wolf gravatar image Wolf  ( 2014-12-16 10:28:28 -0500 )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 gravatar image karen0603  ( 2014-12-16 10:41:10 -0500 )edit

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Asked: 2014-12-15 13:22:32 -0500

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Last updated: Dec 16 '14