49 lines
1.6 KiB
Python
49 lines
1.6 KiB
Python
#!/usr/bin/env python
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import rospy
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import tf
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from gazebo_msgs.msg import LinkStates
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class tf_service():
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def __init__(self):
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self._nodes = ['t1::Table',
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'ia1::Brick',
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'ia2::Brick',
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'ia3::Brick',
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'ib1::Brick',
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'ib2::Brick',
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'ic1::Brick',
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'ic2::Brick',
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'id1::Brick',
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'ie1::Brick']
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def _callback(self, data):
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# Get index
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baxter_base_idx = data.name.index("baxter::base")
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object_idx = data.name.index("t1::Table")
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# Get baxter_base pose and object pose w.r.t. gazebo world
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baxter_base_pose = data.pose[baxter_base_idx]
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object_pose = data.pose[object_idx]
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# Broadcast base and object poses w.r.t. the gazebo world into tf tree
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br = tf.TransformBroadcaster()
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br.sendTransform((baxter_base_pose.position.x, baxter_base_pose.position.y, baxter_base_pose.position.z),
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(baxter_base_pose.orientation.x, baxter_base_pose.orientation.y, baxter_base_pose.orientation.z,
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baxter_base_pose.orientation.w), rospy.Time.now(),
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"base", "gazebo_world")
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# Broadcast base and object poses w.r.t. the gazebo world into tf tree
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br2 = tf.TransformBroadcaster()
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br2.sendTransform((object_pose.position.x, object_pose.position.y, object_pose.position.z),
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(object_pose.orientation.x, object_pose.orientation.y, object_pose.orientation.z, object_pose.orientation.w),
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rospy.Time.now(), "object","gazebo_world")
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def gazebo_link_subscriber(self):
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rospy.init_node('gazebo_link_subscriber')
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rospy.Subscriber("/gazebo/link_states", LinkStates, callback)
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# spin() simply keeps python from exiting until this node is stopped
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rospy.spin()
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x = tf_service()
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x.gazebo_link_subscriber() |