Ask Your Question
0

FK for arbitrary joint positions in python

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

tomjur gravatar image

Hi,

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: https://groups.google.com/forum/#!top... http://docs.ros.org/kinetic/api/movei... 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.

Thanks!

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
1

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 http://wiki.ros.org/pykdl_utils 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.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

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

Seen: 92 times

Last updated: Sep 20