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This commit is contained in:
Max Hunt 2020-02-10 20:35:09 +00:00
parent e9fbdffa78
commit d9698bd4e4
1 changed files with 4 additions and 5 deletions
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9
listener.py
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@ -11,12 +11,11 @@ if __name__ == '__main__':
while not rospy.is_shutdown(): while not rospy.is_shutdown():
try: try:
(trans,rot) = listener.lookupTransform('left_gripper', 'base', rospy.Time(0)) (trans,rot) = listener.lookupTransform('left_gripper', 'base', rospy.Time(0))
print((trans, rot)) except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
# except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): continue
except: continue
Translation = [trans.x , trans.y , trans.z] Translation = [trans[0] , trans[1] , trans[2]]
Quaternion = [rot.x , rot.y , rot.z, rot.w] Quaternion = [rot[0] , rot[1] , rot[2], rot[3]]
Angles = tf.transformations.euler_from_quaternion([rot.x , rot.y , Angles = tf.transformations.euler_from_quaternion([rot.x , rot.y ,
rot.z, rot.w]) rot.z, rot.w])
print("Translation: ", Translation) print("Translation: ", Translation)