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How do I determine the cartesian coordinates of the end effector if I know the joint angles?

asked 2018-07-20 05:50:40 -0500

DebasmitaGhose gravatar image

updated 2018-07-20 07:18:40 -0500

I have the SRDF file which gives the joint angles of the robot for the different poses (using Moveit). Now in order to do a pick and place task, I need to give the cartesian coordinates of the object in the frame of the robot. So, I moved my robot using Moveit to a position such that the end effector can grasp the object, so that I have the joint angles of the robot for performing the grasp. But, I need the position of the end effector with respect to the robot, when the robot is in that position. How do I determine that?

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answered 2018-07-20 07:20:37 -0500

The easiest way is to use tf_echo:

rosrun tf tf_echo <your_base_link> <your_gripper_frame>
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Asked: 2018-07-20 05:50:40 -0500

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Last updated: Jul 20 '18