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FK for arbitrary joint positions in python

asked 2018-02-24 11:20:10 -0500

tomjur gravatar image


Sorry in advance for the possibly trivial question - I am new to ROS.

I need to compute FK for an arbitrary joint position via a python script (I have a model for predicting the next action that also depends on the position and orientation of the end-effector). It seems that this functionality is available in cpp:!top... however I couldn't find the equivalent python code. Any ideas how I may achieve that?

Also, if this functionality is not supported in python, is there a service I could use for arbitrary joint postions?

I am running the WidowX robot, on ROS kinetic on ubuntu 16.04.


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answered 2019-09-20 11:28:16 -0500

Christian Rauch gravatar image

PyKDLis a Python library that can compute the forward kinematics for a kinematic chain with arbitrary joint position values. There is a nice simple wrapper for easier access to this functionality.

The robot_state_publisher provides a node and a C++ library to do the FK for joint states on a ROS topic.

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Asked: 2018-02-24 11:20:10 -0500

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Last updated: Sep 20 '19