Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Cartesian position node

asked 2013-09-01 23:30:39 -0500

Flavian
112 ●8 ●11 ●17

updated 2013-11-18 07:26:40 -0500

tfoote

58457 ●128 ●550 ●526 http://www.ros.org/

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.

Thanks

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2013-09-02 01:15:58 -0500

dornhege

31395 ●134 ●284 ●498

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.

edit flag offensive delete link

Comments

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 ( 2013-09-02 01:31:54 -0500 )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 ( 2013-09-02 02:03:04 -0500 )edit

add a comment

Question Tools

1 follower

Stats

Asked: 2013-09-01 23:30:39 -0500

Seen: 409 times

Last updated: Sep 02 '13

Cartesian position node edit

1 Answer

Comments

Question Tools

Stats

Related questions

Cartesian position node