25 lines
743 B
Python
25 lines
743 B
Python
#!/usr/bin/env python
|
|
import rospy
|
|
import tf
|
|
if __name__ == '__main__':
|
|
""" A simple example of tf listener """
|
|
rospy.init_node('example_tf_listener')
|
|
|
|
listener = tf.TransformListener()
|
|
|
|
rate = rospy.Rate(10.0)
|
|
while not rospy.is_shutdown():
|
|
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]
|
|
Quaternion = [rot.x , rot.y , rot.z, rot.w]
|
|
Angles = tf.transformations.euler_from_quaternion([rot.x , rot.y ,
|
|
rot.z, rot.w])
|
|
print("Translation: ", Translation)
|
|
print("Quaternion: ", Quaternion)
|
|
print("Angles: ", Angles)
|
|
print("")
|
|
rate.sleep() |