How to translate jointstate to tf

asked 2013-09-26 09:59:09 -0500

rnunziata
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What is the procdure to translate joint state given as process_value to a TF message between joined links. Is this documented anywhere. Are there helper functions to take (process_value, process_value_dot) to twist..etc?

answered 2013-09-26 10:49:50 -0500

Stefan Kohlbrecher

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The robot_state_publisher should be what you are asking for, if I understand your question correctly. Using a URDF robot model uploaded to the parameter server and joint states it receives via a topic, it publishes tf. This tutorial explains how to use it.

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Still I do not think it should be that difficult to create a tf from a joint state if you know the control state and the links involved but maybe I am wrong on that point.

rnunziata ( 2013-09-26 12:45:55 -0500 )edit

Actually that isn't difficult. It's the standard ROS way. You could do that yourself, i.e. make a node that subscribes joint states and computes the robot's kinematics from that, but in that case you'd replicate the robot_state_publisher functionality.

dornhege ( 2013-09-26 22:45:45 -0500 )edit

There use to be helper functions eg. Twist t = s.twist(q,qdot); But I can not find them.

rnunziata ( 2013-09-27 02:04:24 -0500 )edit

I don't know about this one, but a good guess would be to look in the tf namespace; there are a couple.

dornhege ( 2013-09-27 02:07:14 -0500 )edit

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