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using JointState.position in transformations

asked 2017-10-12 11:53:12 -0500

imaminion gravatar image

Hi all, Can I directly use the joinstate.position[i] for rotation or should there be some processing when rotating successive joints other than the first one? This is with reference to forward kinematics on ROS indigo.

Thanks.

http://docs.ros.org/api/sensor_msgs/h...

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I'm not sure I completely understand what you are asking. Can you clarify what you mean with "some processing when rotating successive joints other than the first one"?

gvdhoorn gravatar imagegvdhoorn ( 2017-10-13 04:33:17 -0500 )edit

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answered 2017-10-14 07:04:22 -0500

imaminion gravatar image

Got an answer. My questions was if position[i] represented the angle of rotation or the difference in angle with respect to the previous rotation position[i - 1]. The answer is, position[i] refers to the actual rotation angle. Thank you.

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Asked: 2017-10-12 11:52:09 -0500

Seen: 74 times

Last updated: Oct 14 '17