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Max Hunt 2020-02-10 13:24:55 +00:00
parent aa14c87b82
commit d6843e1178
1 changed files with 1 additions and 6 deletions
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7
object_tf_service.py
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@ -30,12 +30,7 @@ class tf_service():
br.sendTransform((baxter_base_pose.position.x, baxter_base_pose.position.y, baxter_base_pose.position.z), 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.x, baxter_base_pose.orientation.y, baxter_base_pose.orientation.z,
baxter_base_pose.orientation.w), rospy.Time.now(), baxter_base_pose.orientation.w), rospy.Time.now(),
"base", "gazebo_world") "object", "gazebo_world")
# Broadcast base and object poses w.r.t. the gazebo world into tf tree
br2 = tf.TransformBroadcaster()
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(self): def gazebo_link_subscriber(self):