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How to get the position of the tf frame (child frame in rviz) , when I use tf.TransformListener().lookupTransform(parent_link, child_link, rospy.Time()) I get the relative position and relative orientation and not position and orientation, how to get the position and orientation using python script?
All positions are measured relative to some reference frame. I believe that the rviz display is showing the position compared to your configured 'world' frame setting. And the position relative to the parent.
If you call lookupTransform(parent_link, child_link, Time(0)) You're explicitly asking for the transform between parent and child.
You wan to use lookupTransform(world_frame, child_link, TIme(0)) to get the latest transform from the world frame to the child link which I think is what you're considering non-relative position. You have to pick your reference to be able to do that.
Asked: 2023-05-03 07:20:48 -0600
Seen: 1,060 times
Last updated: May 03 '23
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