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Moveit! Link Transformations

asked 2020-09-03 04:59:34 -0600

whitecatshiro gravatar image


I've got my ABB IRB 120 robot set up in the moveit! simulation and I have the planning/executing working. I want to be able see the linear transformation matrices that each of the robot links output. Where would I go to see these transformation matrices?

The idea is to have the transformation matrices of these links be sent over a ROS/3D Slicer network to visualize my robot planning in another software called 3D Slicer (I have my robot set up in 3D slicer with the applied linear transformations for each of my robots links).

This is my thread on the 3D Slicer forum stating whether the integration of ROS and 3D slicer can be done, and Junichi Tokuda's project can be seen doing the exact thing I want to do.


The project has the robot model with the links set up in the 3D Slicer environment, with applied linear transformations to each link. There is a node running called ROS-IGTL-Bridge that receives link linear transformation matrices from moveit!, and sends these link linear transformations to the 3D slicer environment, allowing you to visualize movement of the robot in both moveit! and 3D slicer. the 3D slicer software allows you to import CT or MRI scans (along with associated STL models for those CT/MRI scans), so that you can visualize and plan trajectory of an end-effector going into the eg. spine or skull for simulating surgery navigation and planning.

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answered 2020-09-03 08:20:00 -0600

AndyZe gravatar image

updated 2020-09-03 08:20:15 -0600

The /tf topic should have the transformations of all the links.

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Asked: 2020-09-03 04:59:34 -0600

Seen: 113 times

Last updated: Sep 03 '20