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asked 2015-03-19 09:37:33 -0500

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.

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answered 2015-03-21 08:10:49 -0500

lucasw gravatar image

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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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 gravatar image Nomad  ( 2015-03-23 09:03:44 -0500 )edit

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Asked: 2015-03-19 09:37:33 -0500

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Last updated: Mar 21 '15