How to derive transforms between links via Entity Component Manager in gzsim fortress/garden?
Dear community,
i am working on a plugin, which shall derive the transform between two consecutive links (connected via non-fixed joint) in a robot to publish them as a tf2::Transform. Is there a a possibility to derive the relative translation and orientation between two given links (via names e.g.) using the Entity Component Manager?
Regards, Illuminatur
Asked by Illuminatur on 2023-03-21 04:49:44 UTC
Comments
You should be able to use the PosePublisher or the JointStatePublisher for this. Is there a reason for writing your own plugin?
Asked by azeey on 2023-03-21 10:55:57 UTC