Is a Joint in URDF a frame in tf?
Hi everyone! I know this might sound silly but I just want to ask simple question to reassure myself. Is a joint in a URDF considered a frame in the TF library? Thanks!
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Hi everyone! I know this might sound silly but I just want to ask simple question to reassure myself. Is a joint in a URDF considered a frame in the TF library? Thanks!
A joint
in your urdf defines the transform between two link
s, which are represented in your TF tree as frames.
So a revolute joint joint_1
between link_1
and link_2
for which JointState
messages are being published will cause robot_state_publisher
(in this example) to update the relative pose of link_2
wrt link_1
based on the transform specified by the origin
tag of joint_1
. Rotation will be around the origin of link_1
(plus or minus some offset specified by the joint
).
Is a joint in a URDF considered a frame in the TF library?
So I believe the answer would be "no, but link
s are".
Edit: note that the origin
element in your urdf specifies the transform between link
s with the robot in it's zero pose. Afterwards those transforms are updated based on JointState
messages.
Asked: 2018-03-27 11:19:34 -0500
Seen: 838 times
Last updated: Mar 27 '18
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