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 2020-02-10 20:50:36 +00:00
parent 7ce4112146
commit d7a9e5e087
1 changed files with 5 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
object_tf_client.py
View File

@ -10,7 +10,7 @@ def tf_lookup(object_name):
while not rospy.is_shutdown() and do_try: while not rospy.is_shutdown() and do_try:
try: try:
(trans,rot) = listener.lookupTransform('c1', 'base', rospy.Time(0)) (trans,rot) = listener.lookupTransform(object_name, 'base', 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...')
@ -25,4 +25,7 @@ def tf_lookup(object_name):
target_pose.orientation.y = rot[1] target_pose.orientation.y = rot[1]
target_pose.orientation.z = rot[2] target_pose.orientation.z = rot[2]
target_pose.orientation.w = rot[3] target_pose.orientation.w = rot[3]
return target_pose return target_pose
if __name__ == "__main__":
tf_lookup('c1')