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This commit is contained in:
Max Hunt 2020-02-13 15:24:21 +00:00
parent 2c2c78e822
commit 5b92b95217
1 changed files with 4 additions and 9 deletions
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13
object_tf_client.py
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@ -4,6 +4,7 @@ import tf
import time
from geometry_msgs.msg import (PoseStamped, Pose, Point, Quaternion)
from math import radians
from numpy import matmul
def tf_lookup(object_name):
do_try = True
@ -25,15 +26,9 @@ def tf_lookup(object_name):
print('@@@@@@@@@@@@@@@@')
print(object_angles)
print('@@@@@@@@@@@@@@@@')
# xangle = object_angles[0]# + radians(360)
# xangle1 = object_angles[1]# + radians(90)
# xangle2 = object_angles[2]# + radians(-106)
# print("Angles:")
# print(xangle)
# print(xangle1)
# print(xangle2)
# print()
target_quat = tf.transformations.quaternion_from_matrix(object_angles)
Re = euler_matrix(radians(180), radians(0), radians(-270), 'rxyz')
updated_angles = matmul(Re, object_angles)
target_quat = tf.transformations.quaternion_from_matrix(updated_angles)
target_pose = Pose()
target_pose.position.x = trans[0]
target_pose.position.y = trans[1]