ur modern driver raw data
Hi, I am using the ur_modern_driver to control my ur10 robot arm in ROS kinetic. I can see the end effector position and angles (in quaternion) by echoing /tf, however, I wonder if there is a way to get the original roll, pitch and yaw angles that are published by the robot before converting them into quaternion in the ros driver (i.e. I want to display the raw data that is coming from the robot). The reason I am doing so is that I noticed that the roll, pitch and yaw of the robot (that can be seen from the robot monitor) are not the same as the ones published in the driver at some poses (try converting the roll, pitch and yaw angles manually you will get different ones that are produced by the driver)
Thanks in advance. Ragahd
Which frame pair are you looking at? If it's
base_link->ee_link
, then it is to be expected that you don't get the values that are shown on the teach pendant.no, I am looking at tool0_controller frame