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Does the transformPose() function in python not transform the Z axis?

asked 2019-10-20 06:24:53 -0600

wuhan gravatar image
        eca1_point=PoseStamped()
        eca1_point.header.frame_id = "eca_a9/base_footprint"
        eca1_point.header.stamp =rospy.Time(0)
        eca1_point.pose.position.x=0
        eca1_point.pose.position.y=0
        eca1_point.pose.position.z=0
        eca1_worldpoint = self.listener1.transformPose("world",eca1_point)

Does the transformPose() function in python not transform the Z axis? I added the above code to the python program in ROS. My purpose is to find the coordinates of points in other coordinate frame. For example, the robot coordinate is [-900, 0, -5], and the world coordinate obtained by the above code is [-900, 0, 0]. The z-axis coordinate is obviously wrong, and the normal calculated coordinate should be [-900, 0, -5]. I saw the question, and mimicking his code, does anyone know why the transformPose() function in python doesn't transform the Z axis correctly? I use kinetic and ubuntu16.04.

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answered 2019-10-20 22:08:23 -0600

wuhan gravatar image

I know, I should use the "eca_a9/base_link" frame_id instead of "eca_a9/base_footprint". I'm not very familiar with the mean of frames, and I don't know why "base_footprint" only has x and y, and "base_link" has x,y,z. Now, I can work normally after useing the "eca_a9/base_link" frame_id.

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Asked: 2019-10-20 06:24:53 -0600

Seen: 42 times

Last updated: Oct 20