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2021-06-30 17:33:10 -0500 asked a question Removing Duplicate Msgs From Bag

Removing Duplicate Msgs From Bag I have multiple ros bags that I have recorded from a robot session. I want to merge the

2021-06-25 12:56:13 -0500 commented question Sync Joint State and Robot State Publisher

Have also tried that, but didn't improve anything. There are still some msgs which are just never received by the rbs. I

2021-06-24 17:26:36 -0500 asked a question Sync Joint State and Robot State Publisher

Sync Joint State and Robot State Publisher I understand that the robot_state_publisher subscribes to the joint states to

2021-06-24 16:23:35 -0500 commented answer How to promote robot_state_publisher rate?

Did anybody find the solution to this problem. I need faster than 50hz but no matter what I do it stays at max 50hz.

2021-06-24 16:15:30 -0500 commented answer robot_state_publisher link publish frequency not consistent

Did anybody ever solve this problem same thing is occurring for me. even tried to set joint state publisher rate to the

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2021-06-22 03:03:13 -0500 marked best answer Displaying TF Data

I'm looking to display tf data in a similar fashion to what rviz does (and how it displays an arrow from each child frame origin to parent frame origin). Right now, I subscribe to the /tf topic. Every time I receive a new tf message, I use tf.TransformListener to compute the positions for each arrow marker (see code below). When I try to display the newly created markers in real time, I find that the markers are considerably behind the tf tree. The transformPose function takes up a significant amount of time. Thus, I am wondering how rviz displays tf data using markers in real team. They must have a more efficient method?

def callback_tf(self, msg):
    self.pub_rm.publish(self.getMarkers(msg))

def getMarkers(self, msg):
    mks = MarkerArray()
    counter = 0
    for transform in msg.transforms:

        child_frame = transform.child_frame_id
        parent_frame = transform.header.frame_id

        if self.tf_listener.frameExists(BASE_LINK) and self.tf_listener.frameExists(parent_frame) and self.tf_listener.frameExists(child_frame):

            parent_pose = PoseStamped()
            parent_pose.header.frame_id = parent_frame
            child_pose = PoseStamped()
            child_pose.header.frame_id = child_frame

            parent_pose_base = self.tf_listener.transformPose(
                BASE_LINK, parent_pose)
            child_pose_base = self.tf_listener.transformPose(
                BASE_LINK, child_pose)

            link = Marker()
            link.header.frame_id = BASE_LINK
            link.header.stamp = transform.header.stamp
            link.ns = 'link_markers'
            link.id = counter
            link.type = Marker.ARROW
            link.action = 0
            link.pose.position.x = 0
            link.pose.position.y = 0
            link.pose.position.z = 0
            link.pose.orientation.x = 0
            link.pose.orientation.y = 0
            link.pose.orientation.z = 0
            link.pose.orientation.w = 1
            link.points = [child_pose_base.pose.position,
                           parent_pose_base.pose.position]
            mks.markers.append(link)

        else:
            rospy.loginfo(
                'RobotMarkersPublisher error: one or more of frame [world, %s, %s] does not exist', child_frame, parent_frame)
        counter += 1

    return mks
2021-06-21 20:45:10 -0500 answered a question Displaying TF Data

Instead of using the transformPose function I used the lookupTransform function since I only need the absolute origins o

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2021-06-21 18:14:59 -0500 asked a question Displaying TF Data

Displaying TF Data I'm looking to display tf data in a similar fashion to what rviz does (and how it displays an arrow f

2021-06-21 17:54:04 -0500 commented question Get Failed Pose For Cartesian Planner

I haven't got around to writing any code but as soon as I do (week) I'll post and accept the solution

2021-06-21 17:53:54 -0500 commented question Get Failed Pose For Cartesian Planner

I haven't got around to writing any code but as soon as I do (<week) i'll="" post="" and="" accept="" the="" solution

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2021-06-18 14:25:08 -0500 commented question Get Failed Pose For Cartesian Planner

Definitely helps thank you !

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2021-06-16 18:02:35 -0500 asked a question Get Failed Pose For Cartesian Planner

Get Failed Pose For Cartesian Planner I know that the Cartesian planner will tell us what % of the plan was followed. Ho

2021-06-15 04:48:20 -0500 asked a question Tf Data For Planned Path

Tf Data For Planned Path I'm aware that, when a planned path is executed by MoveIt, the coordinate transforms are publis

2021-06-15 04:48:20 -0500 asked a question PlanningSceneInterface doesn't publish to /collision_object topic

PlanningSceneInterface doesn't publish to /collision_object topic Hi I'm new to MoveIt and I'm running into what seems l