32 lines
1.3 KiB
Python
32 lines
1.3 KiB
Python
#!/usr/bin/env python
|
|
import rospy
|
|
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")
|
|
# 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]
|
|
# 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")
|
|
# 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")
|
|
|
|
|
|
def gazebo_link_subscriber():
|
|
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() |