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This commit is contained in:
Max Hunt 2020-02-13 14:24:18 +00:00
parent cfb2f89a00
commit 06cc778e3c
1 changed files with 7 additions and 7 deletions
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14
object_tf_client.py
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@ -10,13 +10,13 @@ def tf_lookup(object_name):
listener = tf.TransformListener()
while not rospy.is_shutdown() and do_try:
try:
(trans,rot) = listener.lookupTransform('base', object_name, rospy.Time(0))
do_try = False
except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
print('Failed to get frame data, retrying...')
time.sleep(0.1)
continue
# try:
(trans,rot) = listener.lookupTransform('base', object_name, rospy.Time(0))
# do_try = False
# except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
# print('Failed to get frame data, retrying...')
# time.sleep(0.1)
# continue
object_angles = tf.transformations.euler_from_quaternion([rot[3] , rot[0], rot[1], rot[2]], axes='sxyz')
xangle = object_angles[0] + radians(196)