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PlanningScene Message fields

In the PlanningScene message definition there is a field:

#additional frames for duplicating tf
geometry_msgs/TransformStamped[] fixed_frame_transforms

My understanding is that the robot state (or whatever other field in the message) will be transformed (translated, rotated) by the amount specified in the fixed_frame_transforms (chaining?)

Is this correct? Is this a way to plan starting from a robot position which is not the real one?

PlanningScene Message fields

In the PlanningScene message definition there is a field:

#additional frames for duplicating tf
geometry_msgs/TransformStamped[] fixed_frame_transforms

My understanding is that the robot state (or whatever other field in the message) will be transformed (translated, rotated) by the amount specified in the fixed_frame_transforms (chaining?)

Is this correct? Is this a way to plan starting from a robot position which is not the real one?

PlanningScene Message fields

In the PlanningScene message definition there is a field:

#additional frames for duplicating tf
geometry_msgs/TransformStamped[] fixed_frame_transforms

My understanding is that the robot state (or whatever other field in the message) will be transformed (translated, rotated) by the amount specified in the fixed_frame_transforms (chaining?)

Is this correct? Is this a way to plan starting from a robot position which is not the real one?