How to get independent joint angles from joint state publisher

asked 2016-05-06 04:46:07 -0500

Mike T gravatar image


I am working with the rrbot gazebo simulation, where it has two revolute joints. It is possible to set each joint angle independently with an angle from 0-2pi by sending to the "joint position command" topic, however I do not know how to READ the same independent angle back.

In /rrbot/joint_states, which is copied from /rrbot/joint1_position_controller/state and /rrbot/joint2_position_controller/state, I can only get a 'position' value which goes above 2pi and changes for joint2 when I move joint1 etc.

Tf only gives me back a quaternion, which I changed into RPY, but this is still not just a single angle on a single axis, which is what I sent in originally. Note: the joints can only move on on axis, only one number is required!

How do I get back a SINGLE AXIS INDEPENDENT angle from each joint?

Thanks Mike

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