Gazebo Contacts Bumper

asked 2015-03-19 09:37:33 -0600

Nomad
53 ●3 ●9 ●9 http://www.isir.upmc.f...

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.

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2015-03-21 08:10:49 -0600

lucasw

6715 ●107 ●167 ●199 https://github.com/lucasw

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.

edit flag offensive delete link

Comments

Thank you! One comment is that the /tf should be publishing data at sufficient rate. Use rostopic hz /tf to see the rate. Gazebo publishes link states at 1kHz by default. But using tf methods simplifies transformations.

Nomad ( 2015-03-23 09:03:44 -0600 )edit

add a comment

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2015-03-19 09:37:33 -0600

Seen: 369 times

Last updated: Mar 21 '15

Gazebo Contacts Bumper edit