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Computing transforms in a Gazebo plugin

asked 2015-06-30 15:38:25 -0600

mikepurvis gravatar image

updated 2015-07-02 10:29:44 -0600

I have a plugin, from which I'd like to modify some link parameters based on the position of the link relative to another link. What's the easiest way to get this information? My normal ROS instinct is to reach for tf2, but then I'm dependent on a bunch of external stuff which I really don't want to be, including robotstatepublisher.

So far, I'm just grabbing the GetWorldCoGPose for each link and subtracting. Is there a more elegant way to do this?

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answered 2015-07-02 10:53:23 -0600

nkoenig gravatar image

Currently there is not a more elegant way. We are working on a form of tf for Gazebo, but it won't be available until gazebo7.

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Okay, cool. So in the short term, subtracting world poses is a reasonable workaround?

mikepurvis gravatar imagemikepurvis ( 2015-07-02 10:55:54 -0600 )edit
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Asked: 2015-06-30 15:38:25 -0600

Seen: 266 times

Last updated: Jul 02 '15