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This commit is contained in:
Max Hunt 2020-02-09 16:14:08 +00:00
parent db8c37bf6f
commit f41bd68f0c
1 changed files with 15 additions and 8 deletions
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23
gazebo_link_to_tf.py
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@ -4,22 +4,29 @@ import tf
from gazebo_msgs.msg import LinkStates
def callback(data):
# Get index
baxter_base_idx = data.name.index("baxter::base") brick_idx = data.name.index("Brick::Brick")
baxter_base_idx = data.name.index("baxter::base")
brick_idx = data.name.index("Brick::Brick")
# Get baxter_base pose and Brick pose w.r.t. gazebo world
baxter_base_pose = data.pose[baxter_base_idx] brick_pose = data.pose[brick_idx]
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
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")
(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
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")
(brick_pose.orientation.x, brick_pose.orientation.y, brick_pose.orientation.z, brick_pose.orientation.w),
rospy.Time.now(), "brick","gazebo_world")
def gazebo_link_subscriber():
rospy.init_node('gazebo_link_subscriber') rospy.Subscriber("/gazebo/link_states", LinkStates, callback)
rospy.init_node('gazebo_link_subscriber')
rospy.Subscriber("/gazebo/link_states", LinkStates, callback)
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
if __name__ == '__main__': gazebo_link_subscriber()