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How can I get the pose (coordinate) of each part for a modular robot?

hi, everybody, I need to get the pose (coordinate) of each part (modules) for a modular robot. I used the following codes to get the coordinate (x, y): previousPosition_.Pos().X() previousPosition_.Pos().Y()

But I just used this codes to get the centre coordinate of the whole robot. I do not know how to get coordinates for each module of a robot. So, How can I do this?

Note: My modular robot consists of many modules that corresponding many <link> in XML file for Gazebo.

How can I get the pose (coordinate) of each part for a modular robot?

hi, everybody, I need to get the pose (coordinate) of each part (modules) for a modular robot. I used the following codes to get the coordinate (x, y): previousPosition_.Pos().X() previousPosition_.Pos().X()

previousPosition_.Pos().Y()

But I just used this codes to get the centre coordinate of the whole robot. I do not know how to get coordinates for each module of a robot. So, How can I do this?

Note: My modular robot consists of many modules that corresponding many <link> in XML file for Gazebo.