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Cartesian position node

asked 2013-09-01 23:30:39 -0600

Flavian gravatar image

updated 2013-11-18 07:26:40 -0600

tfoote gravatar image

Hi everyone,

I am using tf and an ik solver which offers two services: get_ik and get_fk (that's supposed to be generic). Is there a node that can subscribe to tf, use get_fk and publish on a "cartesian pose" topic? And another for the inverse calculation (ie subscribe to cartesian pose, do get_ik, and publish to tf). I could create one, but this seems like a standard procedure.


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answered 2013-09-02 01:15:58 -0600

dornhege gravatar image

The standard for FK would be do use a URDF for the kinematics description, publish joint angles, and then run the robot_state_publisher, which will publish all FK transformations via tf.

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Thanks for the input. However I thought the robot_state_publisher was publishing joint angles to the tf, which then handles the FK (you can access the FK by calling rosrun tf tf_echo /base_joint /end_effector).

Flavian gravatar image Flavian  ( 2013-09-02 01:31:54 -0600 )edit

It's the other way around. robot_state_publisher receives joint angles and produces tf. FK handling is done in the robot_state_publisher.

dornhege gravatar image dornhege  ( 2013-09-02 02:03:04 -0600 )edit

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Asked: 2013-09-01 23:30:39 -0600

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Last updated: Sep 02 '13