max/robotics
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Update

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
object_tf_client.py
View File

@ -10,13 +10,13 @@ def tf_lookup(object_name):
listener = tf.TransformListener() listener = tf.TransformListener()
while not rospy.is_shutdown() and do_try: while not rospy.is_shutdown() and do_try:
try: # try:
(trans,rot) = listener.lookupTransform('base', object_name, rospy.Time(0)) (trans,rot) = listener.lookupTransform('base', object_name, rospy.Time(0))
do_try = False # do_try = False
except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): # except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
print('Failed to get frame data, retrying...') # print('Failed to get frame data, retrying...')
time.sleep(0.1) # time.sleep(0.1)
continue # continue
object_angles = tf.transformations.euler_from_quaternion([rot[3] , rot[0], rot[1], rot[2]], axes='sxyz') object_angles = tf.transformations.euler_from_quaternion([rot[3] , rot[0], rot[1], rot[2]], axes='sxyz')
xangle = object_angles[0] + radians(196) xangle = object_angles[0] + radians(196)