canTransform is always returing False
Hi, In the below code canTransform api is always returning False. Please let me know where I am wrong in the below code.
Python Code:
#! /usr/bin/env python
import rospy
import tf
rospy.init_node('can_trans')
tl = tf.TransformListener()
t = tf.Transformer(True, rospy.Duration(10.0))
tm=rospy.Time.now()-rospy.Duration(2)
while not t.canTransform("/world", "/servo", rospy.Time.now()):
pass
print "Transform Exist"
print tl.lookupTransform("/world", "/servo", rospy.Time.now())
URDF File:
<?xml version="1.0"?>
<robot name="second_bot" xmlns:xacro="http://ros.org/wiki/xacro">
<link name="world"/>
<joint name="joint1" type="prismatic">
<parent link="world"/>
<child link="servo"/>
<limit effort="1000.0" lower="0" upper="0.2" velocity="0.5"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
</joint>
<link name="servo"/>
</robot>
tf_echo from world frame to servo frame:
ubuntu@ubuntu:~$ rosrun tf tf_echo 'world' 'servo'
At time 1532538600.522
- Translation: [0.000, 0.000, 0.000]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
in RPY (radian) [0.000, -0.000, 0.000]
in RPY (degree) [0.000, -0.000, 0.000]
Asked by Sai Krishna on 2018-07-25 12:13:35 UTC
Comments
Hi @Sai Krishna, Did you solve the problem!!
Asked by rayane on 2019-09-04 12:16:27 UTC