Gazebo Contacts Bumper
How to get position of a contact with respect to to frame of the link that is in contact?
I am using Gazebo 1.9 and ROS Indigo. I am getting contact positions wrt world frame.
How to get position of a contact with respect to to frame of the link that is in contact?
I am using Gazebo 1.9 and ROS Indigo. I am getting contact positions wrt world frame.
Put your contact into a geometry_msgs/PointStamped
and set the frame_id to world, then use tf transformPoint to transform the point into the link frame.
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Asked: 2015-03-19 09:37:33 -0500
Seen: 440 times
Last updated: Mar 21 '15
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