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This commit is contained in:
Max Hunt 2020-02-10 20:27:46 +00:00
parent 5df779725a
commit a32f63559b
2 changed files with 5 additions and 2 deletions
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6
listener.py
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@ -9,7 +9,11 @@ if __name__ == '__main__':
rate = rospy.Rate(10.0) rate = rospy.Rate(10.0)
while not rospy.is_shutdown(): while not rospy.is_shutdown():
(trans,rot) = listener.lookupTransform('/left_gripper', '/base', rospy.Time(0)) try:
(trans,rot) = listener.lookupTransform('/left_gripper', '/base', rospy.Time(0))
except(tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
continue
Translation = [trans.x , trans.y , trans.z] Translation = [trans.x , trans.y , trans.z]
Quaternion = [rot.x , rot.y , rot.z, rot.w] Quaternion = [rot.x , rot.y , rot.z, rot.w]
Angles = tf.transformations.euler_from_quaternion([rot.x , rot.y , Angles = tf.transformations.euler_from_quaternion([rot.x , rot.y ,

1
object_tf_service.py
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@ -52,7 +52,6 @@ class tf_service():
# rospy.init_node('gazebo_link_subscriber') # rospy.init_node('gazebo_link_subscriber')
rospy.Subscriber("/gazebo/link_states", LinkStates, self._callback) rospy.Subscriber("/gazebo/link_states", LinkStates, self._callback)
a+=1 a+=1
print('this shit on? ', str(a))
# spin() simply keeps python from exiting until this node is stopped # spin() simply keeps python from exiting until this node is stopped
rospy.spin() rospy.spin()