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How can I get a certern link's position not in rviz?

asked 2017-03-23 06:30:06 -0600

Ddj gravatar image

I want write a certern link position(x,y,z) to a txt file.Which function do i need? Where does the date of link's position store?THX!!

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answered 2017-03-23 08:03:41 -0600

updated 2017-03-23 08:05:25 -0600

If you have joint state information being published, you have a URDF, and you have the robot_state_publisher running then you should be able to visualize the pose of the robot in rviz. If all of that is working, to obtain the position of a particular link, all you need to do is create a tf listener and lookup the transform between some inertial frame and a frame on the link that you are interested in. This can easily be done in Python (tutorial here) or C++ (tutorial here).

The robot_state_publisher subscribes to joint state information and looks at a robot's URDF on the parameter server. With those two pieces of information, it can publish the relevant /tf data so that the full pose of the robot can be known by any ROS node (including rviz and your own listener).

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Asked: 2017-03-23 06:30:06 -0600

Seen: 211 times

Last updated: Mar 23 '17