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how plot x , y , z position using rqt_plot /joint_states/position[3] ??

asked 2017-03-07 13:59:14 -0500

zakizadeh gravatar image

hi . how plot x , y , z position of joint 3 using rqt_plot /joint_states/position[3] ??

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answered 2017-03-07 14:06:31 -0500

gvdhoorn gravatar image

JointState messages only contain joint states, ie: joint poses in joint space. They do not represent Cartesian coordinates. So position[3] is not z, but the joint space position of joint 4 (it's zero-indexed).

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thanks . how can i plot Cartesian coordinates in rqt ?? do you have example for that ?

zakizadeh gravatar image zakizadeh  ( 2017-03-08 00:10:37 -0500 )edit

The simplest way to get those values is to write a script that computes the values you want and publishes them on a topic to visualize in rqt.

tfoote gravatar image tfoote  ( 2017-03-12 16:35:11 -0500 )edit

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Asked: 2017-03-07 13:59:14 -0500

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Last updated: Mar 07 '17