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Max Hunt 2020-02-09 16:29:28 +00:00
parent 4bb6daa72f
commit 9264537773
1 changed files with 21 additions and 8 deletions
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29
gazebo_link_to_tf.py
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@ -5,21 +5,34 @@ from gazebo_msgs.msg import LinkStates
def callback(data):
# Get index
baxter_base_idx = data.name.index("baxter::base")
brick_idx = data.name.index("t1::Table")
# Get baxter_base pose and Brick pose w.r.t. gazebo world
object_idx = data.name.index("t1::Table")
print('########################################')
print()
print()
print()
print()
print()
print(object_idx)
print()
print()
print()
print()
print()
print('########################################')
# Get baxter_base pose and object pose w.r.t. gazebo world
baxter_base_pose = data.pose[baxter_base_idx]
brick_pose = data.pose[brick_idx]
# Broadcast base and brick poses w.r.t. the gazebo world into tf tree
object_pose = data.pose[object_idx]
# Broadcast base and object poses w.r.t. the gazebo world into tf tree
br = tf.TransformBroadcaster()
br.sendTransform((baxter_base_pose.position.x, baxter_base_pose.position.y, baxter_base_pose.position.z),
(baxter_base_pose.orientation.x, baxter_base_pose.orientation.y, baxter_base_pose.orientation.z,
baxter_base_pose.orientation.w), rospy.Time.now(),
"base", "gazebo_world")
# Broadcast base and brick poses w.r.t. the gazebo world into tf tree
# Broadcast base and object poses w.r.t. the gazebo world into tf tree
br2 = tf.TransformBroadcaster()
br2.sendTransform((brick_pose.position.x, brick_pose.position.y, brick_pose.position.z),
(brick_pose.orientation.x, brick_pose.orientation.y, brick_pose.orientation.z, brick_pose.orientation.w),
rospy.Time.now(), "brick","gazebo_world")
br2.sendTransform((object_pose.position.x, object_pose.position.y, object_pose.position.z),
(object_pose.orientation.x, object_pose.orientation.y, object_pose.orientation.z, object_pose.orientation.w),
rospy.Time.now(), "object","gazebo_world")
def gazebo_link_subscriber():